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janbruedigamjanbruedigam
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Add urdf tests
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+308
-2
lines changed

4 files changed

+308
-2
lines changed

‎src/ui/urdf.jl‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -213,9 +213,9 @@ function joint_selector(jointtype, link1, link2, T;
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elseif jointtype == "floating"
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joint = EqualityConstraint(Floating(link1, link2), name=name)
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elseif jointtype == "ball"
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joint = EqualityConstraint(Spherical(plink, clink; p1=p1, p2=p2, qoffset = qoffset), name=name)
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joint = EqualityConstraint(Spherical(link1, link2; p1=p1, p2=p2, qoffset = qoffset), name=name)
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elseif jointtype == "fixedorientation"
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joint = EqualityConstraint(FixedOrientation(plink, clink; qoffset = qoffset), name=name)
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joint = EqualityConstraint(FixedOrientation(link1, link2; qoffset = qoffset), name=name)
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elseif jointtype == "cylindrical"
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joint = EqualityConstraint(Cylindrical(link1, link2, axis; p1=p1, p2=p2, qoffset = qoffset), name=name)
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elseif jointtype == "cylindricalfree"

‎test/runtests.jl‎

Lines changed: 4 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -18,6 +18,10 @@ include("initialization/initialization_test.jl")
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include("ui_test.jl")
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end
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@safetestset "URDF Tests" begin
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include("urdf_test.jl")
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end
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@safetestset "Optionals Tests" begin
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include("optionals_test.jl")
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end

‎test/urdf_test.jl‎

Lines changed: 7 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,7 @@
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using ConstrainedDynamics
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Mechanism("urdf_test.urdf", floating=false)
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@test true
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Mechanism("urdf_test.urdf", floating=true)
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@test true

‎test/urdf_test.urdf‎

Lines changed: 295 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,295 @@
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<?xml version="1.0"?>
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<robot name="Test">
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<link name="base_link">
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</link>
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<link name="revolute_link">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="1" />
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0. 0." />
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<geometry>
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<box size="1 1 1" />
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</geometry>
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<material name="green">
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<color rgba="1 0 1 1" />
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</material>
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</visual>
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</link>
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<link name="continuous_link">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="1" />
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0. 0." />
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<geometry>
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<box size="1 1 1" />
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</geometry>
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<material name="green">
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<color rgba="1 0 1 1" />
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</material>
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</visual>
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</link>
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<link name="prismatic_link">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="1" />
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0. 0." />
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<geometry>
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<box size="1 1 1" />
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</geometry>
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<material name="green">
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<color rgba="1 0 1 1" />
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</material>
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</visual>
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</link>
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<link name="planar_link">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="1" />
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0. 0." />
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<geometry>
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<box size="1 1 1" />
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</geometry>
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<material name="green">
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<color rgba="1 0 1 1" />
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</material>
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</visual>
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</link>
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<link name="planarfree_link">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="1" />
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0. 0." />
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<geometry>
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<box size="1 1 1" />
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</geometry>
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<material name="green">
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<color rgba="1 0 1 1" />
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</material>
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</visual>
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</link>
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<link name="fixed_link">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="1" />
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0. 0." />
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<geometry>
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<box size="1 1 1" />
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</geometry>
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<material name="green">
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<color rgba="1 0 1 1" />
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</material>
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</visual>
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</link>
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<link name="floating_link">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="1" />
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0. 0." />
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<geometry>
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<box size="1 1 1" />
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</geometry>
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<material name="green">
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<color rgba="1 0 1 1" />
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</material>
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</visual>
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</link>
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<link name="ball_link">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="1" />
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0. 0." />
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<geometry>
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<box size="1 1 1" />
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</geometry>
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<material name="green">
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<color rgba="1 0 1 1" />
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</material>
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</visual>
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</link>
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<link name="fixedorientation_link">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="1" />
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0. 0." />
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<geometry>
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<box size="1 1 1" />
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</geometry>
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<material name="green">
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<color rgba="1 0 1 1" />
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</material>
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</visual>
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</link>
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<link name="cylindrical_link">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="1" />
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0. 0." />
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<geometry>
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<box size="1 1 1" />
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</geometry>
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<material name="green">
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<color rgba="1 0 1 1" />
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</material>
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</visual>
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</link>
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<link name="cylindricalfree_link">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="1" />
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0. 0." />
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<geometry>
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<box size="1 1 1" />
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</geometry>
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<material name="green">
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<color rgba="1 0 1 1" />
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</material>
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</visual>
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</link>
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<link name="planaraxis_link">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="1" />
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0. 0." />
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<geometry>
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<box size="1 1 1" />
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</geometry>
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<material name="green">
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<color rgba="1 0 1 1" />
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</material>
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</visual>
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</link>
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<joint name="revolute_joint" type="revolute">
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<parent link="base_link" />
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<child link="revolute_link" />
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<origin rpy="0 0 0" xyz="0 0 0" />
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<axis xyz="0 0 0" />
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</joint>
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<joint name="continuous_joint" type="continuous">
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<parent link="base_link" />
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<child link="continuous_link" />
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<origin rpy="0 0 0" xyz="0 0 0" />
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<axis xyz="0 0 0" />
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</joint>
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<joint name="prismatic_joint" type="prismatic">
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<parent link="base_link" />
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<child link="prismatic_link" />
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<origin rpy="0 0 0" xyz="0 0 0" />
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<axis xyz="0 0 0" />
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</joint>
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<joint name="planar_joint" type="planar">
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<parent link="base_link" />
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<child link="planar_link" />
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<origin rpy="0 0 0" xyz="0 0 0" />
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<axis xyz="0 0 0" />
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</joint>
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<joint name="planarfree_joint" type="planarfree">
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<parent link="base_link" />
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<child link="planarfree_link" />
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<origin rpy="0 0 0" xyz="0 0 0" />
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<axis xyz="0 0 0" />
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</joint>
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<joint name="fixed_joint" type="fixed">
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<parent link="base_link" />
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<child link="fixed_link" />
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<origin rpy="0 0 0" xyz="0 0 0" />
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<axis xyz="0 0 0" />
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</joint>
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<joint name="floating_joint" type="floating">
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<parent link="base_link" />
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<child link="floating_link" />
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<origin rpy="0 0 0" xyz="0 0 0" />
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<axis xyz="0 0 0" />
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</joint>
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<joint name="ball_joint" type="ball">
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<parent link="base_link" />
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<child link="ball_link" />
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<origin rpy="0 0 0" xyz="0 0 0" />
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<axis xyz="0 0 0" />
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</joint>
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<joint name="fixedorientation_joint" type="fixedorientation">
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<parent link="base_link" />
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<child link="fixedorientation_link" />
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<origin rpy="0 0 0" xyz="0 0 0" />
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<axis xyz="0 0 0" />
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</joint>
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<joint name="cylindrical_joint" type="cylindrical">
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<parent link="base_link" />
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<child link="cylindrical_link" />
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<origin rpy="0 0 0" xyz="0 0 0" />
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<axis xyz="0 0 0" />
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</joint>
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<joint name="cylindricalfree_joint" type="cylindricalfree">
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<parent link="base_link" />
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<child link="cylindricalfree_link" />
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<origin rpy="0 0 0" xyz="0 0 0" />
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<axis xyz="0 0 0" />
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</joint>
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<joint name="planaraxis_joint" type="planaraxis">
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<parent link="base_link" />
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<child link="planaraxis_link" />
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<origin rpy="0 0 0" xyz="0 0 0" />
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<axis xyz="0 0 0" />
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</joint>
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</robot>

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