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AIRO-1796 Change API used to set and query maximum, velocity of a joint. #190

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AIRO-1796 Change API used to set and query maximum, velocity of a joint. #190

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7209367
Changing maxVelocity API
vidurvij-Unity Mar 2, 2022
0b28ec0
Update tests for the new max velocity limit api
vidurvij-Unity Mar 3, 2022
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8 changes: 7 additions & 1 deletion com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfJoints/UrdfJointContinuous.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -115,6 +115,12 @@ protected override Joint ExportSpecificJointData(Joint joint)
#endif
return joint;
}

protected override Joint.Limit ExportLimitData()
{
ArticulationDrive drive = unityJoint.xDrive;
return new Joint.Limit(0, 0, drive.forceLimit, unityJoint.maxJointVelocity);
}


/// <summary>
Expand All @@ -138,7 +144,7 @@ protected override void AdjustMovement(Joint joint)
{
ArticulationDrive drive = unityJoint.xDrive;
drive.forceLimit = (float)(joint.limit.effort);
unityJoint.maxAngularVelocity = (float)(joint.limit.velocity);
unityJoint.maxJointVelocity = (float)(joint.limit.velocity);
drive.damping = unityJoint.xDrive.damping;
drive.stiffness = unityJoint.xDrive.stiffness;
unityJoint.xDrive = drive;
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2 changes: 1 addition & 1 deletion com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfJoints/UrdfJointPlanar.cs
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Expand Up @@ -192,7 +192,7 @@ protected override void AdjustMovement(Joint joint)
unityJoint.xDrive = drive;
unityJoint.zDrive = drive;
unityJoint.yDrive = drive;
unityJoint.maxLinearVelocity = (float)joint.limit.velocity;
unityJoint.maxJointVelocity = (float)joint.limit.velocity;
}
else
{
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4 changes: 2 additions & 2 deletions com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfJoints/UrdfJointPrismatic.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -141,7 +141,7 @@ protected override void AdjustMovement(Joint joint) // Test this function
drive.lowerLimit = (float)joint.limit.lower;
drive.forceLimit = (float)joint.limit.effort;
#if UNITY_2020_2_OR_NEWER
unityJoint.maxLinearVelocity = (float)joint.limit.velocity;
unityJoint.maxJointVelocity = (float)joint.limit.velocity;
#elif UNITY_2020_1
maxLinearVelocity = (float)joint.limit.velocity;
#endif
Expand Down Expand Up @@ -186,7 +186,7 @@ protected override Joint.Limit ExportLimitData()
#if UNITY_2020_1_OR_NEWER
ArticulationDrive drive = GetComponent<ArticulationBody>().xDrive;
#if UNITY_2020_2_OR_NEWER
return new Joint.Limit(drive.lowerLimit, drive.upperLimit, drive.forceLimit, unityJoint.maxLinearVelocity);
return new Joint.Limit(drive.lowerLimit, drive.upperLimit, drive.forceLimit, unityJoint.maxJointVelocity);
#elif UNITY_2020_1
return new Joint.Limit(drive.lowerLimit, drive.upperLimit, drive.forceLimit, maxLinearVelocity);
#endif
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4 changes: 2 additions & 2 deletions com.unity.robotics.urdf-importer/Runtime/UrdfComponents/UrdfJoints/UrdfJointRevolute.cs
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Expand Up @@ -134,7 +134,7 @@ protected override Joint.Limit ExportLimitData()
{
#if UNITY_2020_1_OR_NEWER
ArticulationDrive drive = unityJoint.xDrive;
return new Joint.Limit(drive.lowerLimit * Mathf.Deg2Rad, drive.upperLimit * Mathf.Deg2Rad, drive.forceLimit, unityJoint.maxAngularVelocity);
return new Joint.Limit(drive.lowerLimit * Mathf.Deg2Rad, drive.upperLimit * Mathf.Deg2Rad, drive.forceLimit, unityJoint.maxJointVelocity);
#else
HingeJointLimitsManager hingeJointLimits = GetComponent<HingeJointLimitsManager>();
return new Joint.Limit(
Expand Down Expand Up @@ -168,7 +168,7 @@ protected override void AdjustMovement(Joint joint)
drive.upperLimit = (float)(joint.limit.upper * Mathf.Rad2Deg);
drive.lowerLimit = (float)(joint.limit.lower * Mathf.Rad2Deg);
drive.forceLimit = (float)(joint.limit.effort);
unityJoint.maxAngularVelocity = (float)(joint.limit.velocity);
unityJoint.maxLinearVelocity = (float)(joint.limit.velocity);
drive.damping = unityJoint.xDrive.damping;
drive.stiffness = unityJoint.xDrive.stiffness;
unityJoint.xDrive = drive;
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2 changes: 1 addition & 1 deletion ...ty.robotics.urdf-importer/Tests/Runtime/UrdfComponents/UrdfJoints/UrdfJointPlanarTests.cs
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Expand Up @@ -126,7 +126,7 @@ public void ImportJointData_SpecificLimit_Succeeds()
Assert.AreEqual(6, articulationBody.xDrive.forceLimit);
Assert.AreEqual(6, articulationBody.yDrive.forceLimit);
Assert.AreEqual(6, articulationBody.zDrive.forceLimit);
Assert.AreEqual(7, articulationBody.maxLinearVelocity);
Assert.AreEqual(7, articulationBody.maxJointVelocity);

Object.DestroyImmediate(baseObject);
}
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4 changes: 2 additions & 2 deletions ...robotics.urdf-importer/Tests/Runtime/UrdfComponents/UrdfJoints/UrdfJointPrismaticTests.cs
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Expand Up @@ -109,7 +109,7 @@ public void ImportJointData_SpecificAixs_Succeeds()
Assert.AreEqual(4, articulationBody.xDrive.lowerLimit);
Assert.AreEqual(5, articulationBody.xDrive.upperLimit);
Assert.AreEqual(6, articulationBody.xDrive.forceLimit);
Assert.AreEqual(7, articulationBody.maxLinearVelocity);
Assert.AreEqual(7, articulationBody.maxJointVelocity);
Assert.AreEqual(8, articulationBody.linearDamping);
Assert.AreEqual(8, articulationBody.angularDamping);
Assert.AreEqual(9, articulationBody.jointFriction);
Expand Down Expand Up @@ -138,7 +138,7 @@ public void ExportSpecificJointData_Succeeds()
Assert.AreEqual(articulationBody.xDrive.lowerLimit, joint.limit.lower);
Assert.AreEqual(articulationBody.xDrive.upperLimit, joint.limit.upper);
Assert.AreEqual(articulationBody.xDrive.forceLimit, joint.limit.effort);
Assert.AreEqual(articulationBody.maxLinearVelocity, joint.limit.velocity);
Assert.AreEqual(articulationBody.maxJointVelocity, joint.limit.velocity);

Object.DestroyImmediate(linkObject);
}
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2 changes: 1 addition & 1 deletion ....robotics.urdf-importer/Tests/Runtime/UrdfComponents/UrdfJoints/UrdfJointRevoluteTests.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -142,7 +142,7 @@ public void ExportSpecificJointData_Succeeds()
Assert.AreEqual(articulationBody.xDrive.lowerLimit * Mathf.Deg2Rad, joint.limit.lower);
Assert.AreEqual(articulationBody.xDrive.upperLimit * Mathf.Deg2Rad, joint.limit.upper);
Assert.AreEqual(articulationBody.xDrive.forceLimit, joint.limit.effort);
Assert.AreEqual(articulationBody.maxAngularVelocity, joint.limit.velocity);
Assert.AreEqual(articulationBody.maxJointVelocity, joint.limit.velocity);

Object.DestroyImmediate(linkObject);
}
Expand Down