Updating version in tutorial and fixing TargetPlacement bug.

3 年前 · 68e77ed3
--- a/tutorials/pick_and_place/1_urdf.md
+++ b/tutorials/pick_and_place/1_urdf.md

 1. Install [Unity Hub](https://unity3d.com/get-unity/download).

-1. Go to the [Unity 2020.2 Beta website](https://unity3d.com/unity/beta/2020.2.0b9) to install this project's version of Unity: **2020.2.0b9**.
+1. Go it the "Installs" tab in the Unity Hub, and click the "Add" button. Select Unity **2020.3.11f1 (LTS)**. If this version is no longer available through the hub, you can find it in the [Unity Download Archive](https://unity3d.com/get-unity/download/archive).
-1. Click the "Add" button in the top right of the "Projects" tab on Unity Hub, and navigate to and select the PickAndPlaceProject directory within this cloned repository (`/PATH/TO/Unity-Robotics-Hub/tutorials/pick_and_place/PickAndPlaceProject/`) to add the tutorial project to your Hub.
+1. Go to the "Projects" tab in the Unity Hub, click the "Add" button, and navigate to and select the PickAndPlaceProject directory within this cloned repository (`/PATH/TO/Unity-Robotics-Hub/tutorials/pick_and_place/PickAndPlaceProject/`) to add the tutorial project to your Hub.

   ![](img/hub_addproject.png)

--- a/tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/TargetPlacement.cs
+++ b/tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/TargetPlacement.cs

        void OnTriggerEnter(Collider other)
        {
-            if (other.gameObject.name == k_NameExpectedTarget)
+            if (other.gameObject.name == m_Target.name)
            {
                CurrentState = PlacementState.InsideFloating;
            }
        {
-            if (other.gameObject.name == k_NameExpectedTarget)
+            if (other.gameObject.name == m_Target.name)
            {
                CurrentState = PlacementState.Outside;
            }
--- a/tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/PlayMode/PlayModeTestScenes/TargetPlacementTest.unity
+++ b/tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/PlayMode/PlayModeTestScenes/TargetPlacementTest.unity
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--- a/tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/PlayMode/TargetPlacementTests.cs
+++ b/tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/PlayMode/TargetPlacementTests.cs
 [TestFixture, Category("UnitTests")]
 public class TargetPlacementTests
 {
-    const int k_NumAllowedFrames = 5;
+    const int k_NumAllowedFramesStatic = 5;
+    const int k_NumAllowedFramesDynamic = 20;
    const string k_NamePlaced = "TargetPlacementPlaced";
    const string k_NameOutside = "TargetPlacementOutside";
    const string k_NameFloating = "TargetPlacementFloating";
        yield return new TestCaseData(k_NameFloating, TargetPlacement.PlacementState.InsideFloating).Returns(null);
    }

-    [UnityTest, TestCaseSource(nameof(TargetPlacementCases))]
-    public IEnumerator TargetPlacement_WithStaticObjects_SetsStateCorrectly(
-        string name, TargetPlacement.PlacementState stateExpected)
+    TargetPlacement GetTargetPlacement(string name)
-
+        return targetPlacement;
+    }
+    static IEnumerator WaitForState(
+        TargetPlacement targetPlacement, TargetPlacement.PlacementState stateExpected, int numFramesToWait)
+    {
-        while (targetPlacement.CurrentState != stateExpected && numFramesTested < k_NumAllowedFrames)
+        while (targetPlacement.CurrentState != stateExpected && numFramesTested < numFramesToWait)
-        Assert.AreEqual(targetPlacement.CurrentState, stateExpected);
+        Assert.AreEqual(stateExpected, targetPlacement.CurrentState);
+    }
+
+    [UnityTest, TestCaseSource(nameof(TargetPlacementCases))]
+    public IEnumerator TargetPlacement_WithStaticObjects_SetsStateCorrectly(
+        string name, TargetPlacement.PlacementState stateExpected)
+    {
+        var targetPlacement = GetTargetPlacement(name);
+
+        yield return WaitForState(targetPlacement, stateExpected, k_NumAllowedFramesStatic);
+    }
+
+    [UnityTest]
+    public IEnumerator TargetPlacement_WithFallingObject_ChangesStateCorrectly()
+    {
+        const string name = "TargetPlacementStateChange";
+        var targetPlacement = GetTargetPlacement(name);
+
+        Assert.AreEqual(TargetPlacement.PlacementState.Outside, targetPlacement.CurrentState,
+            $"{name} should start with no Target in its bounds.");
+
+        // Target should fall into placement and come to reset
+        yield return WaitForState(
+            targetPlacement, TargetPlacement.PlacementState.InsideFloating, k_NumAllowedFramesDynamic);
+        yield return WaitForState(
+            targetPlacement, TargetPlacement.PlacementState.InsidePlaced, k_NumAllowedFramesDynamic);
    }
 }