getNextGoal() {
return nextGoal;
}
+
+ /**
+ * Set the solver to use.
+ * solver must be in the same node tree as this instance.
+ * @param limbSolver the solver to use.
+ */
+ public void setSolver(LimbSolver limbSolver) {
+ solver.setRelativePath(this,limbSolver);
+ }
+
+ /**
+ * Set the start of the path.
+ * pose must be in the same node tree as this instance.
+ * @param pose the pose to use.
+ */
+ public void setPathStart(Pose pose) {
+ pathStart.setRelativePath(this,pose);
+ }
+
+ public void setLinearVelocity(double v) {
+ if(solver.getSubject()!=null) {
+ solver.getSubject().setLinearVelocity(v);
+ }
+ }
}
diff --git a/src/main/java/com/marginallyclever/ro3/node/nodes/TargetPlannerPanel.java b/src/main/java/com/marginallyclever/ro3/node/nodes/limbplanner/LimbPlannerPanel.java
similarity index 64%
rename from src/main/java/com/marginallyclever/ro3/node/nodes/TargetPlannerPanel.java
rename to src/main/java/com/marginallyclever/ro3/node/nodes/limbplanner/LimbPlannerPanel.java
index e8e86e783..08f2d0c48 100644
--- a/src/main/java/com/marginallyclever/ro3/node/nodes/TargetPlannerPanel.java
+++ b/src/main/java/com/marginallyclever/ro3/node/nodes/limbplanner/LimbPlannerPanel.java
@@ -1,10 +1,10 @@
-package com.marginallyclever.ro3.node.nodes;
+package com.marginallyclever.ro3.node.nodes.limbplanner;
import com.marginallyclever.convenience.helpers.StringHelper;
import com.marginallyclever.ro3.node.Node;
import com.marginallyclever.ro3.node.NodePanelHelper;
+import com.marginallyclever.ro3.node.nodes.Pose;
import com.marginallyclever.ro3.node.nodes.limbsolver.LimbSolver;
-import com.marginallyclever.ro3.view.View;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
@@ -15,22 +15,21 @@
import java.awt.event.HierarchyEvent;
/**
- * {@link TargetPlannerPanel} displays controls to run a {@link TargetPlanner}.
+ * {@link LimbPlannerPanel} displays controls to run a {@link LimbPlanner}.
*/
-@View(of=TargetPlanner.class)
-public class TargetPlannerPanel extends JPanel implements ActionListener {
- private static final Logger logger = LoggerFactory.getLogger(TargetPlannerPanel.class);
- private final TargetPlanner targetPlanner;
+public class LimbPlannerPanel extends JPanel implements ActionListener {
+ private static final Logger logger = LoggerFactory.getLogger(LimbPlannerPanel.class);
+ private final LimbPlanner limbPlanner;
private final JToggleButton runButton = new JToggleButton();
private Timer timer;
private final JLabel previousExecutionTimeLabel = new JLabel();
private final JLabel executionTimeLabel = new JLabel();
- public TargetPlannerPanel(TargetPlanner targetPlanner) {
+ public LimbPlannerPanel(LimbPlanner limbPlanner) {
super(new GridBagLayout());
- this.targetPlanner = targetPlanner;
+ this.limbPlanner = limbPlanner;
- this.setName(TargetPlanner.class.getSimpleName());
+ this.setName(LimbPlanner.class.getSimpleName());
GridBagConstraints gbc = new GridBagConstraints();
gbc.weightx = 1.0;
@@ -40,23 +39,23 @@ public TargetPlannerPanel(TargetPlanner targetPlanner) {
gbc.gridy=0;
gbc.gridwidth=1;
- NodePanelHelper.addNodeSelector(this, "LimbSolver", targetPlanner.getSolver(), LimbSolver.class, gbc,targetPlanner);
+ NodePanelHelper.addNodeSelector(this, "LimbSolver", limbPlanner.getSolver(), LimbSolver.class, gbc, limbPlanner);
gbc.gridy++;
- NodePanelHelper.addNodeSelector(this, "Path start", targetPlanner.getPathStart(), Node.class, gbc,targetPlanner);
+ NodePanelHelper.addNodeSelector(this, "Path start", limbPlanner.getPathStart(), Node.class, gbc, limbPlanner);
gbc.gridy++;
- var selector = NodePanelHelper.addNodeSelector(this, "Next goal", targetPlanner.getNextGoal(), Pose.class, gbc,targetPlanner);
+ var selector = NodePanelHelper.addNodeSelector(this, "Next goal", limbPlanner.getNextGoal(), Pose.class, gbc, limbPlanner);
selector.setEditable(false);
// Run button
gbc.gridy++;
runButton.addActionListener(e -> {
- boolean isRunning = targetPlanner.isRunning();
+ boolean isRunning = limbPlanner.isRunning();
if (!isRunning) {
- targetPlanner.startRun();
- previousExecutionTimeLabel.setText(StringHelper.formatTime(targetPlanner.getPreviousExecutionTime()));
+ limbPlanner.startRun();
+ previousExecutionTimeLabel.setText(StringHelper.formatTime(limbPlanner.getPreviousExecutionTime()));
setRunButtonText();
} else {
- targetPlanner.stopRun();
+ limbPlanner.stopRun();
setRunButtonText();
}
});
@@ -74,16 +73,16 @@ public TargetPlannerPanel(TargetPlanner targetPlanner) {
this.add(runButton,gbc);
gbc.gridy++;
gbc.gridwidth=1;
- executionTimeLabel.setText( StringHelper.formatTime(targetPlanner.getExecutionTime()) );
+ executionTimeLabel.setText( StringHelper.formatTime(limbPlanner.getExecutionTime()) );
NodePanelHelper.addLabelAndComponent(this, "Execution time", executionTimeLabel, gbc);
gbc.gridy++;
- previousExecutionTimeLabel.setText( StringHelper.formatTime(targetPlanner.getPreviousExecutionTime()) );
+ previousExecutionTimeLabel.setText( StringHelper.formatTime(limbPlanner.getPreviousExecutionTime()) );
NodePanelHelper.addLabelAndComponent(this, "Previous time", previousExecutionTimeLabel, gbc);
}
private void setRunButtonText() {
- runButton.setSelected(targetPlanner.isRunning());
- runButton.setText(targetPlanner.isRunning() ? "Stop" : "Run");
+ runButton.setSelected(limbPlanner.isRunning());
+ runButton.setText(limbPlanner.isRunning() ? "Stop" : "Run");
}
@Override
@@ -91,19 +90,19 @@ public void addNotify() {
super.addNotify();
// timer
timer = new Timer(100, (e)-> {
- if (targetPlanner.isRunning()) {
- executionTimeLabel.setText(StringHelper.formatTime(targetPlanner.getExecutionTime()));
+ if (limbPlanner.isRunning()) {
+ executionTimeLabel.setText(StringHelper.formatTime(limbPlanner.getExecutionTime()));
}
});
timer.start();
- targetPlanner.addActionListener(this);
+ limbPlanner.addActionListener(this);
}
@Override
public void removeNotify() {
super.removeNotify();
timer.stop();
- targetPlanner.removeActionListener(this);
+ limbPlanner.removeActionListener(this);
}
@Override
diff --git a/src/main/java/com/marginallyclever/ro3/node/nodes/limbsolver/LimbSolver.java b/src/main/java/com/marginallyclever/ro3/node/nodes/limbsolver/LimbSolver.java
index 94137fa67..31fb9ec00 100644
--- a/src/main/java/com/marginallyclever/ro3/node/nodes/limbsolver/LimbSolver.java
+++ b/src/main/java/com/marginallyclever/ro3/node/nodes/limbsolver/LimbSolver.java
@@ -48,6 +48,11 @@ public Pose getTarget() {
return target.getSubject();
}
+ /**
+ * Set the target to move towards.
+ * target must be in the same node tree as this instance.
+ * @param target the target to move towards
+ */
public void setTarget(Pose target) {
this.target.setRelativePath(this,target);
}
@@ -77,6 +82,11 @@ public Limb getLimb() {
return limb.getSubject();
}
+ /**
+ * Set the limb to be controlled by this instance.
+ * limb must be in the same node tree as this instance.
+ * @param limb the limb to control
+ */
public void setLimb(Limb limb) {
this.limb.setRelativePath(this,limb);
}
@@ -86,11 +96,18 @@ private Pose getEndEffector() {
return limb!=null ? limb.getEndEffector() : null;
}
+ /**
+ * @return true if the solver has a limb, an end effector, and a target. Does not guarantee that a solution exists.
+ */
+ public boolean readyToSolve() {
+ return getLimb()!=null && getEndEffector()!=null && getTarget()!=null;
+ }
+
private void moveTowardsTarget() {
- if(getLimb()==null || getEndEffector()==null || getTarget()==null ) {
- // no limb, no end effector, or no target. Do nothing.
+ if(!readyToSolve()) {
return;
}
+
if(linearVelocity<0.0001) {
// no velocity. Make sure the arm doesn't drift.
getLimb().setAllJointVelocities(new double[getLimb().getNumJoints()]);
diff --git a/src/main/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/MarlinRobotArm.java b/src/main/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/MarlinRobotArm.java
index 6872813a4..23028a3db 100644
--- a/src/main/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/MarlinRobotArm.java
+++ b/src/main/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/MarlinRobotArm.java
@@ -259,11 +259,11 @@ private String getM114() {
return "M114"+getMotorsAndFeedrateAsString();
}
- private Limb getLimb() {
+ public Limb getLimb() {
return limb.getSubject();
}
- private LimbSolver getSolver() {
+ public LimbSolver getSolver() {
return solver.getSubject();
}
@@ -483,4 +483,22 @@ private void fireMarlinMessage(String message) {
listener.messageFromMarlin(message);
}
}
+
+ /**
+ * Set the limb to be controlled by this instance.
+ * limb must be in the same node tree as this instance.
+ * @param limb the limb to control
+ */
+ public void setLimb(Limb limb) {
+ this.limb.setRelativePath(this,limb);
+ }
+
+ /**
+ * Set the solver to be used by this instance.
+ * solver must be in the same node tree as this instance.
+ * @param solver the solver to use
+ */
+ public void setSolver(LimbSolver solver) {
+ this.solver.setRelativePath(this, solver);
+ }
}
diff --git a/src/main/java/com/marginallyclever/ro3/view/ViewFinder.java b/src/main/java/com/marginallyclever/ro3/view/ViewFinder.java
index f3079b776..369bf9836 100644
--- a/src/main/java/com/marginallyclever/ro3/view/ViewFinder.java
+++ b/src/main/java/com/marginallyclever/ro3/view/ViewFinder.java
@@ -8,11 +8,16 @@
import java.util.stream.Collectors;
/**
- * Finds all classes annotated with {@link View} that are for the given target class.
+ * Finds all classes annotated with {@link View} that are 'of' the given target class.
*/
public class ViewFinder {
+ /**
+ * Finds all @View(of=targetClass) classes.
+ * @param targetClass the class to find views for
+ * @return a set of view providers
+ */
public static Set> findViews(Class targetClass) {
- Reflections reflections = new Reflections("com.marginallyclever", Scanners.TypesAnnotated);
+ Reflections reflections = new Reflections("com.marginallyclever.ro3", Scanners.TypesAnnotated);
Set> annotatedClasses = reflections.getTypesAnnotatedWith(View.class);
return annotatedClasses.stream()
diff --git a/src/main/resources/com/marginallyclever/ro3/apps/viewport/renderpasses/mesh.frag b/src/main/resources/com/marginallyclever/ro3/apps/viewport/renderpasses/mesh.frag
index 547d24068..35438294b 100644
--- a/src/main/resources/com/marginallyclever/ro3/apps/viewport/renderpasses/mesh.frag
+++ b/src/main/resources/com/marginallyclever/ro3/apps/viewport/renderpasses/mesh.frag
@@ -70,7 +70,8 @@ void main() {
// Specular
vec3 viewDir = normalize(cameraPos - fs_in.fragmentPosition);
vec3 reflectDir = reflect(-lightDir, norm);
- float spec = pow(max(dot(viewDir, reflectDir), 0.0), shininess);
+ float spec = 1.0;
+ if( shininess > 1.0 ) spec = pow(max(dot(viewDir, reflectDir), 0.0), shininess);
vec4 specularLight = spec * specularColor * lightColor;
// Shadow
diff --git a/src/test/java/com/marginallyclever/misc/FontTest.java b/src/test/java/com/marginallyclever/misc/FontTest.java
index 9e53bd6d9..c462053f8 100644
--- a/src/test/java/com/marginallyclever/misc/FontTest.java
+++ b/src/test/java/com/marginallyclever/misc/FontTest.java
@@ -10,7 +10,7 @@
import java.awt.*;
import java.util.Arrays;
-@DisabledIfEnvironmentVariable(named = "CI", matches = "true")
+@DisabledIfEnvironmentVariable(named = "CI", matches = "true", disabledReason = "headless environment")
public class FontTest {
private static final Logger logger = LoggerFactory.getLogger(FontTest.class);
diff --git a/src/test/java/com/marginallyclever/ro3/node/NodeListenerTest.java b/src/test/java/com/marginallyclever/ro3/node/NodeListenerTest.java
new file mode 100644
index 000000000..fded1308f
--- /dev/null
+++ b/src/test/java/com/marginallyclever/ro3/node/NodeListenerTest.java
@@ -0,0 +1,55 @@
+package com.marginallyclever.ro3.node;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+import org.mockito.Mockito;
+
+import static org.mockito.Mockito.*;
+
+public class NodeListenerTest {
+ private Node parentNode;
+ private Node childNode;
+ private NodeAttachListener attachListener;
+ private NodeDetachListener detachListener;
+ private NodeReadyListener readyListener;
+ private NodeRenameListener renameListener;
+
+ @BeforeEach
+ public void setup() {
+ parentNode = new Node("Parent");
+ childNode = new Node("Child");
+ attachListener = Mockito.mock(NodeAttachListener.class);
+ detachListener = Mockito.mock(NodeDetachListener.class);
+ readyListener = Mockito.mock(NodeReadyListener.class);
+ renameListener = Mockito.mock(NodeRenameListener.class);
+
+ parentNode.addAttachListener(attachListener);
+ parentNode.addDetachListener(detachListener);
+ parentNode.addReadyListener(readyListener);
+ parentNode.addRenameListener(renameListener);
+ }
+
+ @Test
+ public void testNodeAttachListener() {
+ parentNode.addChild(childNode);
+ verify(attachListener, times(1)).nodeAttached(childNode);
+ }
+
+ @Test
+ public void testNodeDetachListener() {
+ parentNode.addChild(childNode);
+ parentNode.removeChild(childNode);
+ verify(detachListener, times(1)).nodeDetached(childNode);
+ }
+
+ @Test
+ public void testNodeReadyListener() {
+ parentNode.addChild(childNode);
+ verify(readyListener, times(1)).nodeReady(childNode);
+ }
+
+ @Test
+ public void testNodeRenameListener() {
+ parentNode.setName("NewName");
+ verify(renameListener, times(1)).nodeRenamed(parentNode);
+ }
+}
\ No newline at end of file
diff --git a/src/test/java/com/marginallyclever/ro3/node/NodePathTest.java b/src/test/java/com/marginallyclever/ro3/node/NodePathTest.java
new file mode 100644
index 000000000..6aefbfed1
--- /dev/null
+++ b/src/test/java/com/marginallyclever/ro3/node/NodePathTest.java
@@ -0,0 +1,45 @@
+package com.marginallyclever.ro3.node;
+import com.marginallyclever.convenience.PathCalculator;
+import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.*;
+
+class NodePathTest {
+ @Test
+ void testConstructor() {
+ Node owner = new Node();
+ NodePath nodePath = new NodePath<>(owner, Node.class);
+ assertNotNull(nodePath);
+ }
+
+ @Test
+ void testGetPath() {
+ Node owner = new Node();
+ NodePath nodePath = new NodePath<>(owner, Node.class, "/path/to/node");
+ assertEquals("/path/to/node", nodePath.getPath());
+ }
+
+ @Test
+ void testSetPath() {
+ Node owner = new Node();
+ NodePath nodePath = new NodePath<>(owner, Node.class);
+ nodePath.setPath("/new/path/to/node");
+ assertEquals("/new/path/to/node", nodePath.getPath());
+ }
+
+ @Test
+ void testGetSubject() {
+ Node owner = new Node();
+ NodePath nodePath = new NodePath<>(owner, Node.class, "/path/to/node");
+ assertEquals(owner.findNodeByPath("/path/to/node", Node.class), nodePath.getSubject());
+ }
+
+ @Test
+ void testSetRelativePath() {
+ Node owner = new Node();
+ Node goal = new Node();
+ owner.addChild(goal);
+ NodePath nodePath = new NodePath<>(owner, Node.class);
+ nodePath.setRelativePath(owner, goal);
+ assertEquals(PathCalculator.getRelativePath(owner, goal), nodePath.getPath());
+ }
+}
\ No newline at end of file
diff --git a/src/test/java/com/marginallyclever/ro3/node/NodeTest.java b/src/test/java/com/marginallyclever/ro3/node/NodeTest.java
new file mode 100644
index 000000000..49a2f1e5c
--- /dev/null
+++ b/src/test/java/com/marginallyclever/ro3/node/NodeTest.java
@@ -0,0 +1,142 @@
+package com.marginallyclever.ro3.node;
+
+import com.marginallyclever.ro3.node.nodes.Pose;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
+import java.util.UUID;
+
+import static org.junit.jupiter.api.Assertions.*;
+
+public class NodeTest {
+ private Node parentNode;
+ private Node childNode;
+
+ @BeforeEach
+ public void setup() {
+ parentNode = new Node("Parent");
+ childNode = new Node("Child");
+ }
+
+ @Test
+ public void testAddChild() {
+ parentNode.addChild(childNode);
+ assertTrue(parentNode.getChildren().contains(childNode));
+ assertEquals(parentNode, childNode.getParent());
+ }
+
+ @Test
+ public void testRemoveChild() {
+ parentNode.addChild(childNode);
+ parentNode.removeChild(childNode);
+ assertFalse(parentNode.getChildren().contains(childNode));
+ assertNull(childNode.getParent());
+ }
+
+ @Test
+ public void testGetName() {
+ assertEquals("Parent", parentNode.getName());
+ }
+
+ @Test
+ public void testGetParent() {
+ parentNode.addChild(childNode);
+ assertEquals(parentNode, childNode.getParent());
+ }
+
+ @Test
+ public void testGetNodeID() {
+ UUID id = parentNode.getNodeID();
+ assertNotNull(id);
+ }
+
+ @Test
+ public void testSetName() {
+ parentNode.setName("NewName");
+ assertEquals("NewName", parentNode.getName());
+ }
+
+ @Test
+ public void testGetChildren() {
+ parentNode.addChild(childNode);
+ assertEquals(1, parentNode.getChildren().size());
+ assertEquals(childNode, parentNode.getChildren().get(0));
+ }
+
+ @Test
+ public void testFindParent() {
+ Node grandParentNode = new Node("GrandParent");
+ grandParentNode.addChild(parentNode);
+ parentNode.addChild(childNode);
+ assertEquals(grandParentNode, childNode.findParent("GrandParent"));
+ }
+
+ @Test
+ public void testFindChild() {
+ parentNode.addChild(childNode);
+ assertEquals(childNode, parentNode.findChild("Child"));
+ }
+
+ @Test
+ public void testGet() {
+ parentNode.addChild(childNode);
+ assertEquals(childNode, parentNode.get("Child"));
+ }
+
+ @Test
+ public void testGetRootNode() {
+ Node grandParentNode = new Node("GrandParent");
+ grandParentNode.addChild(parentNode);
+ parentNode.addChild(childNode);
+ assertEquals(grandParentNode, childNode.getRootNode());
+ }
+
+ @Test
+ public void testGetAbsolutePath() {
+ Node grandParentNode = new Node("GrandParent");
+ grandParentNode.addChild(parentNode);
+ parentNode.addChild(childNode);
+ assertEquals("/GrandParent/Parent/Child", childNode.getAbsolutePath());
+ }
+
+ @Test
+ public void testIsNameUsedBySibling() {
+ parentNode.addChild(childNode);
+ Node siblingNode = new Node("Child");
+ parentNode.addChild(siblingNode);
+ assertTrue(siblingNode.isNameUsedBySibling("Child"));
+ }
+
+ @Test
+ public void testFindFirstChild() {
+ parentNode.addChild(childNode);
+ assertEquals(childNode, parentNode.findFirstChild(Node.class));
+ }
+
+ @Test
+ public void testFindFirstSibling() {
+ Pose siblingNode = new Pose("Sibling");
+ parentNode.addChild(childNode);
+ parentNode.addChild(siblingNode);
+ assertEquals(siblingNode, childNode.findFirstSibling(Pose.class));
+ }
+
+ @Test
+ public void testHasParent() {
+ parentNode.addChild(childNode);
+ assertTrue(childNode.hasParent(parentNode));
+ }
+
+ @Test
+ public void testFindNodeByID() {
+ parentNode.addChild(childNode);
+ String id = childNode.getNodeID().toString();
+ assertEquals(childNode, parentNode.findNodeByID(id, Node.class));
+ }
+
+ @Test
+ public void testFindNodeByPath() {
+ parentNode.addChild(childNode);
+ assertEquals(childNode, parentNode.findNodeByPath("Child", Node.class));
+ }
+}
\ No newline at end of file
diff --git a/src/test/java/com/marginallyclever/ro3/node/nodes/TestCamera.java b/src/test/java/com/marginallyclever/ro3/node/nodes/CameraTest.java
similarity index 80%
rename from src/test/java/com/marginallyclever/ro3/node/nodes/TestCamera.java
rename to src/test/java/com/marginallyclever/ro3/node/nodes/CameraTest.java
index 6a7f7171f..75332973b 100644
--- a/src/test/java/com/marginallyclever/ro3/node/nodes/TestCamera.java
+++ b/src/test/java/com/marginallyclever/ro3/node/nodes/CameraTest.java
@@ -9,8 +9,7 @@
import javax.vecmath.Matrix4d;
import javax.vecmath.Vector3d;
-@DisabledIfEnvironmentVariable(named = "CI", matches = "true", disabledReason = "headless environment")
-public class TestCamera {
+public class CameraTest {
@Test
public void testPanTiltInverses() {
Registry.start();
@@ -22,8 +21,7 @@ public void testPanTiltInverses() {
Matrix3d panTiltMatrix = camera.buildPanTiltMatrix(before);
Matrix4d matrix = new Matrix4d(panTiltMatrix, new Vector3d(), 1.0);
double[] after = camera.getPanTiltFromMatrix(matrix);
-
- System.out.println("before="+before[0]+","+before[1]+" after="+after[0]+","+after[1]);
+ //System.out.println("before="+before[0]+","+before[1]+" after="+after[0]+","+after[1]);
Assertions.assertArrayEquals(before, after, 0.01);
}
}
diff --git a/src/test/java/com/marginallyclever/ro3/node/nodes/DHParameterTest.java b/src/test/java/com/marginallyclever/ro3/node/nodes/DHParameterTest.java
new file mode 100644
index 000000000..45e2f6b67
--- /dev/null
+++ b/src/test/java/com/marginallyclever/ro3/node/nodes/DHParameterTest.java
@@ -0,0 +1,33 @@
+package com.marginallyclever.ro3.node.nodes;
+import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.*;
+
+class DHParameterTest {
+ @Test
+ void testGetD() {
+ DHParameter dhParameter = new DHParameter();
+ dhParameter.setD(10.0);
+ assertEquals(10.0, dhParameter.getD());
+ }
+
+ @Test
+ void testGetR() {
+ DHParameter dhParameter = new DHParameter();
+ dhParameter.setR(20.0);
+ assertEquals(20.0, dhParameter.getR());
+ }
+
+ @Test
+ void testGetAlpha() {
+ DHParameter dhParameter = new DHParameter();
+ dhParameter.setAlpha(30.0);
+ assertEquals(30.0, dhParameter.getAlpha());
+ }
+
+ @Test
+ void testGetTheta() {
+ DHParameter dhParameter = new DHParameter();
+ dhParameter.setTheta(40.0);
+ assertEquals(40.0, dhParameter.getTheta());
+ }
+}
\ No newline at end of file
diff --git a/src/test/java/com/marginallyclever/ro3/node/nodes/HingeJointTest.java b/src/test/java/com/marginallyclever/ro3/node/nodes/HingeJointTest.java
new file mode 100644
index 000000000..a79afe3b1
--- /dev/null
+++ b/src/test/java/com/marginallyclever/ro3/node/nodes/HingeJointTest.java
@@ -0,0 +1,44 @@
+package com.marginallyclever.ro3.node.nodes;
+import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.*;
+
+class HingeJointTest {
+ @Test
+ void testGetSetAngle() {
+ HingeJoint hingeJoint = new HingeJoint();
+ hingeJoint.setAngle(45.0);
+ assertEquals(45.0, hingeJoint.getAngle());
+ }
+
+ @Test
+ void testGetMinAngle() {
+ HingeJoint hingeJoint = new HingeJoint();
+ assertEquals(0.0, hingeJoint.getMinAngle());
+ }
+
+ @Test
+ void testGetMaxAngle() {
+ HingeJoint hingeJoint = new HingeJoint();
+ assertEquals(360.0, hingeJoint.getMaxAngle());
+ }
+
+ @Test
+ void testGetSetVelocity() {
+ HingeJoint hingeJoint = new HingeJoint();
+ hingeJoint.setVelocity(10.0);
+ assertEquals(10.0, hingeJoint.getVelocity());
+ }
+
+ @Test
+ void testGetSetAcceleration() {
+ HingeJoint hingeJoint = new HingeJoint();
+ hingeJoint.setAcceleration(20.0);
+ assertEquals(20.0, hingeJoint.getAcceleration());
+ }
+
+ @Test
+ void testGetAxle() {
+ HingeJoint hingeJoint = new HingeJoint();
+ assertNull(hingeJoint.getAxle());
+ }
+}
\ No newline at end of file
diff --git a/src/test/java/com/marginallyclever/ro3/node/nodes/MaterialTest.java b/src/test/java/com/marginallyclever/ro3/node/nodes/MaterialTest.java
new file mode 100644
index 000000000..53ab72f4c
--- /dev/null
+++ b/src/test/java/com/marginallyclever/ro3/node/nodes/MaterialTest.java
@@ -0,0 +1,61 @@
+package com.marginallyclever.ro3.node.nodes;
+
+import com.marginallyclever.ro3.Registry;
+import com.marginallyclever.ro3.texture.TextureWithMetadata;
+import org.junit.jupiter.api.Test;
+import java.awt.Color;
+import java.awt.image.BufferedImage;
+
+import static org.junit.jupiter.api.Assertions.*;
+
+
+class MaterialTest {
+ @Test
+ void testGetTexture() {
+ Material material = new Material();
+ TextureWithMetadata texture = new TextureWithMetadata(new BufferedImage(1,1,BufferedImage.TYPE_INT_RGB), "test");
+ material.setTexture(texture);
+ assertEquals(texture, material.getTexture());
+ }
+
+ @Test
+ void testGetSetDiffuseColor() {
+ Material material = new Material();
+ Color color = new Color(255, 0, 0);
+ material.setDiffuseColor(color);
+ assertEquals(color, material.getDiffuseColor());
+ }
+
+ @Test
+ void testGetSetSpecularColor() {
+ Material material = new Material();
+ Color color = new Color(0, 255, 0);
+ material.setSpecularColor(color);
+ assertEquals(color, material.getSpecularColor());
+ }
+
+ @Test
+ void testGetSetEmissionColor() {
+ Material material = new Material();
+ Color color = new Color(0, 0, 255);
+ material.setEmissionColor(color);
+ assertEquals(color, material.getEmissionColor());
+ }
+
+ @Test
+ void testGetSetShininess() {
+ Material material = new Material();
+ int shininess = 50;
+ material.setShininess(shininess);
+ assertEquals(shininess, material.getShininess());
+ }
+
+ @Test
+ void testIsSetLit() {
+ Material material = new Material();
+ material.setLit(true);
+ assertTrue(material.isLit());
+ material.setLit(false);
+ assertFalse(material.isLit());
+ }
+}
\ No newline at end of file
diff --git a/src/test/java/com/marginallyclever/ro3/node/nodes/MotorTest.java b/src/test/java/com/marginallyclever/ro3/node/nodes/MotorTest.java
new file mode 100644
index 000000000..51edbebf7
--- /dev/null
+++ b/src/test/java/com/marginallyclever/ro3/node/nodes/MotorTest.java
@@ -0,0 +1,32 @@
+package com.marginallyclever.ro3.node.nodes;
+
+import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.*;
+
+class MotorTest {
+ @Test
+ void testUpdate() {
+ Motor motor = new Motor();
+ motor.update(1.0);
+ // Add assertions based on the expected state of the motor after calling update
+ }
+
+ @Test
+ void testGetSetHinge() {
+ Motor motor = new Motor();
+ HingeJoint hingeJoint = new HingeJoint();
+ motor.addChild(hingeJoint);
+ motor.setHinge(hingeJoint);
+ assertEquals(hingeJoint, motor.getHinge());
+ }
+
+ @Test
+ void testHasHinge() {
+ Motor motor = new Motor();
+ assertFalse(motor.hasHinge());
+ HingeJoint hingeJoint = new HingeJoint();
+ motor.addChild(hingeJoint);
+ motor.setHinge(hingeJoint);
+ assertTrue(motor.hasHinge());
+ }
+}
\ No newline at end of file
diff --git a/src/test/java/com/marginallyclever/ro3/node/nodes/PoseTest.java b/src/test/java/com/marginallyclever/ro3/node/nodes/PoseTest.java
new file mode 100644
index 000000000..7f3d00b33
--- /dev/null
+++ b/src/test/java/com/marginallyclever/ro3/node/nodes/PoseTest.java
@@ -0,0 +1,67 @@
+package com.marginallyclever.ro3.node.nodes;
+
+import com.marginallyclever.convenience.helpers.MatrixHelper;
+import org.junit.jupiter.api.Assertions;
+import org.junit.jupiter.api.Test;
+import javax.vecmath.Matrix4d;
+import javax.vecmath.Vector3d;
+import static org.junit.jupiter.api.Assertions.*;
+
+class PoseTest {
+ @Test
+ void testGetSetLocal() {
+ Pose pose = new Pose();
+ Matrix4d matrix = MatrixHelper.createIdentityMatrix4();
+ pose.setLocal(matrix);
+ assertEquals(matrix, pose.getLocal());
+ }
+
+ @Test
+ void testGetSetWorld1() {
+ Pose a = new Pose();
+ Pose b = new Pose();
+ a.addChild(b);
+ Matrix4d matrix = MatrixHelper.createIdentityMatrix4();
+ matrix.setTranslation(new Vector3d(1,2,3));
+ a.setLocal(matrix);
+ b.setLocal(matrix);
+ matrix.setTranslation(new Vector3d(2,4,6));
+ assertEquals(matrix, b.getWorld());
+ }
+
+ @Test
+ void testGetSetWorld2() {
+ Pose a = new Pose();
+ Pose b = new Pose();
+ a.addChild(b);
+ Matrix4d matrix = MatrixHelper.createIdentityMatrix4();
+ matrix.setTranslation(new Vector3d(1,2,3));
+ a.setLocal(matrix);
+ b.setWorld(matrix);
+ assertEquals(matrix, b.getWorld());
+ matrix.setTranslation(new Vector3d(0,0,0));
+ assertEquals(matrix, b.getLocal());
+ }
+
+ @Test
+ void testGetSetRotationEuler() {
+ Pose pose = new Pose();
+ Vector3d vector = new Vector3d(1.0, 2.0, 3.0);
+ pose.setRotationEuler(vector, MatrixHelper.EulerSequence.YXZ);
+ var result = pose.getRotationEuler(MatrixHelper.EulerSequence.YXZ);
+ Assertions.assertEquals(vector.x, result.x,1e-4);
+ Assertions.assertEquals(vector.y, result.y,1e-4);
+ Assertions.assertEquals(vector.z, result.z,1e-4);
+ }
+
+ @Test
+ void testGetSetPosition() {
+ Pose pose = new Pose();
+ Vector3d vector = new Vector3d(1.0, 2.0, 3.0);
+ pose.setPosition(vector);
+ var result = pose.getPosition();
+ Assertions.assertEquals(vector.x, result.x,1e-4);
+ Assertions.assertEquals(vector.y, result.y,1e-4);
+ Assertions.assertEquals(vector.z, result.z,1e-4);
+ }
+}
\ No newline at end of file
diff --git a/src/test/java/com/marginallyclever/ro3/node/nodes/limbplanner/LimbPlannerTest.java b/src/test/java/com/marginallyclever/ro3/node/nodes/limbplanner/LimbPlannerTest.java
new file mode 100644
index 000000000..b8546d6ea
--- /dev/null
+++ b/src/test/java/com/marginallyclever/ro3/node/nodes/limbplanner/LimbPlannerTest.java
@@ -0,0 +1,123 @@
+package com.marginallyclever.ro3.node.nodes.limbplanner;
+
+import com.marginallyclever.convenience.helpers.StringHelper;
+import com.marginallyclever.ro3.Registry;
+import com.marginallyclever.ro3.apps.actions.LoadScene;
+import com.marginallyclever.ro3.apps.commands.ImportScene;
+import com.marginallyclever.ro3.node.nodes.Pose;
+import com.marginallyclever.ro3.node.nodes.limbsolver.LimbSolver;
+import com.marginallyclever.ro3.node.nodes.pose.Limb;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.api.condition.DisabledIfEnvironmentVariable;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+import javax.vecmath.Matrix4d;
+import javax.vecmath.Vector3d;
+import java.awt.event.ActionEvent;
+import java.io.File;
+import java.util.Arrays;
+
+import static org.junit.jupiter.api.Assertions.*;
+
+class LimbPlannerTest {
+ private static final Logger logger = LoggerFactory.getLogger(LimbPlannerTest.class);
+ Limb limb;
+ LimbSolver limbSolver;
+ LimbPlanner limbPlanner;
+ Pose pathStart;
+
+ private Limb build6AxisArm() throws Exception {
+ var load = new LoadScene(null,null);
+ File file = new File("src/test/resources/com/marginallyclever/ro3/apps/node/nodes/marlinrobotarm/Sixi3-5.RO");
+ load.commitLoad(file);
+ return (Limb) Registry.getScene().get("./Sixi3");
+ }
+
+ @BeforeEach
+ void setUp() throws Exception {
+ try {
+ Registry.start();
+ } catch(Exception e) {
+ logger.error("Failed to start Registry",e);
+ }
+ limb = build6AxisArm();
+
+ // the Sixi3-5.RO file has a limb named "Sixi3" which has a LimbSolver.
+
+ limbSolver = limb.findFirstChild(LimbSolver.class);
+
+ limbPlanner = new LimbPlanner();
+ limb.addChild(limbPlanner);
+ limbPlanner.setSolver(limbSolver);
+
+ pathStart = new Pose();
+ limbPlanner.addChild(pathStart);
+ limbPlanner.setPathStart(pathStart);
+ limb.addChild(pathStart);
+ }
+
+ @Test
+ void testStartRun1() {
+ limbPlanner.startRun();
+ assertFalse(limbPlanner.isRunning());
+ }
+
+ @Test
+ void testStartRun2() {
+ pathStart.addChild(new Pose());
+ limbPlanner.startRun();
+ assertTrue(limbPlanner.isRunning());
+ }
+
+ @Test
+ void testStopRun() {
+ limbPlanner.startRun();
+ limbPlanner.stopRun();
+ assertFalse(limbPlanner.isRunning());
+ }
+
+ @Test
+ void testGetExecutionTimeAndPreviousExecutionTime() {
+ // start at world origin
+ pathStart.addChild(new Pose("start"));
+
+ // end 1 unit in the X direction away
+ var end = new Pose("end");
+ var endPosition = new Matrix4d();
+ endPosition.setTranslation(new Vector3d(10, 0, 0));
+ end.setLocal(endPosition);
+ pathStart.addChild(end);
+
+ // turn on the planner
+ limbPlanner.setLinearVelocity(1.0);
+ limbPlanner.startRun();
+ // The Sixi3-5 arm is perfectly vertical, it cannot reach the start position.
+ // it is guaranteed to run for 1 second.
+ double dt = 0.1;
+ double sum=0;
+ for(int i=0;i<10;++i) {
+ sum+=dt;
+ logger.debug(StringHelper.formatTime(sum)+" Move "+Arrays.toString(limb.getAllJointAngles()));
+ limb.update(dt);
+ if(!limbPlanner.isRunning()) break;
+ }
+ if(limbPlanner.isRunning()) {
+ limbPlanner.stopRun();
+ }
+ logger.debug(StringHelper.formatTime(sum)+" End "+Arrays.toString(limb.getAllJointAngles()));
+
+ // confirm we moved for 1 second.
+ assertEquals(1.0, limbPlanner.getExecutionTime(),1e-4);
+ assertEquals(0.0, limbPlanner.getPreviousExecutionTime());
+ }
+
+ @Test
+ void testActionPerformed() {
+ limbPlanner.startRun();
+ ActionEvent event = new ActionEvent(limbPlanner, ActionEvent.ACTION_PERFORMED, "arrivedAtGoal");
+ limbPlanner.actionPerformed(event);
+ assertFalse(limbPlanner.isRunning());
+ }
+}
\ No newline at end of file
diff --git a/src/test/java/com/marginallyclever/ro3/node/nodes/limbsolver/LimbSolverTest.java b/src/test/java/com/marginallyclever/ro3/node/nodes/limbsolver/LimbSolverTest.java
new file mode 100644
index 000000000..5b465bc76
--- /dev/null
+++ b/src/test/java/com/marginallyclever/ro3/node/nodes/limbsolver/LimbSolverTest.java
@@ -0,0 +1,53 @@
+package com.marginallyclever.ro3.node.nodes.limbsolver;
+
+import com.marginallyclever.ro3.node.nodes.Pose;
+import com.marginallyclever.ro3.node.nodes.pose.Limb;
+import org.junit.jupiter.api.Test;
+import static org.junit.jupiter.api.Assertions.*;
+
+class LimbSolverTest {
+ @Test
+ void testGetSetTarget() {
+ LimbSolver limbSolver = new LimbSolver();
+ Pose pose = new Pose();
+ limbSolver.addChild(pose);
+ limbSolver.setTarget(pose);
+ assertEquals(pose, limbSolver.getTarget());
+ }
+
+ @Test
+ void testUpdate() {
+ LimbSolver limbSolver = new LimbSolver();
+ limbSolver.update(1.0);
+ // Add assertions based on the expected state of the limbSolver after calling update
+ }
+
+ @Test
+ void testGetSetLimb() {
+ LimbSolver limbSolver = new LimbSolver();
+ Limb limb = new Limb();
+ limbSolver.addChild(limb);
+ limbSolver.setLimb(limb);
+ assertEquals(limb, limbSolver.getLimb());
+ }
+
+ @Test
+ void testGetSetLinearVelocity() {
+ LimbSolver limbSolver = new LimbSolver();
+ limbSolver.setLinearVelocity(10.0);
+ assertEquals(10.0, limbSolver.getLinearVelocity());
+ }
+
+ @Test
+ void testGetDistanceToTarget() {
+ LimbSolver limbSolver = new LimbSolver();
+ // Add assertions based on the expected distance to target
+ }
+
+ @Test
+ void testGetSetGoalMarginOfError() {
+ LimbSolver limbSolver = new LimbSolver();
+ limbSolver.setGoalMarginOfError(0.1);
+ assertEquals(0.1, limbSolver.getGoalMarginOfError());
+ }
+}
\ No newline at end of file
diff --git a/src/test/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/ApproximateJacobianTest.java b/src/test/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/ApproximateJacobianTest.java
index f4eef49a9..d2dc68741 100644
--- a/src/test/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/ApproximateJacobianTest.java
+++ b/src/test/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/ApproximateJacobianTest.java
@@ -22,9 +22,7 @@ public void setup() {
}
private Limb build6AxisArm() throws Exception {
- // TODO load a robot from a file.
var load = new LoadScene(null,null);
- // find file {project root}/src/test/resources/com/marginallyclever/ro3/apps/node/nodes/marlinrobotarm/Sixi3-5.RO
File file = new File("src/test/resources/com/marginallyclever/ro3/apps/node/nodes/marlinrobotarm/Sixi3-5.RO");
load.commitLoad(file);
return (Limb) Registry.getScene().get("./Sixi3/MarlinRobotArm");
diff --git a/src/test/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/MarlinRobotArmTest.java b/src/test/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/MarlinRobotArmTest.java
new file mode 100644
index 000000000..cd58183cb
--- /dev/null
+++ b/src/test/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/MarlinRobotArmTest.java
@@ -0,0 +1,49 @@
+package com.marginallyclever.ro3.node.nodes.marlinrobotarm;
+
+import com.marginallyclever.ro3.node.nodes.Pose;
+import com.marginallyclever.ro3.node.nodes.pose.Limb;
+import com.marginallyclever.ro3.node.nodes.limbsolver.LimbSolver;
+import org.junit.jupiter.api.Test;
+import org.mockito.Mockito;
+
+import static org.junit.jupiter.api.Assertions.*;
+
+class MarlinRobotArmTest {
+ @Test
+ void testGetTarget() {
+ Limb limb = new Limb();
+ LimbSolver limbSolver = new LimbSolver();
+ MarlinRobotArm marlinRobotArm = new MarlinRobotArm();
+ Pose target = new Pose();
+ limb.addChild(marlinRobotArm);
+ limb.addChild(limbSolver);
+ limb.addChild(target);
+ limbSolver.setTarget(target);
+ marlinRobotArm.setSolver(limbSolver);
+ assertEquals(target, marlinRobotArm.getTarget());
+ }
+
+ @Test
+ void testSendGCode() {
+ MarlinRobotArm marlinRobotArm = new MarlinRobotArm();
+ MarlinListener mockListener = Mockito.mock(MarlinListener.class);
+ marlinRobotArm.addMarlinListener(mockListener);
+ marlinRobotArm.sendGCode("M114");
+
+ Mockito.verify(mockListener).messageFromMarlin(Mockito.startsWith("Ok: M114"));
+
+ }
+
+ @Test
+ void testSetLimbAndSolver() {
+ Limb limb = new Limb();
+ MarlinRobotArm marlinRobotArm = new MarlinRobotArm();
+ LimbSolver limbSolver = new LimbSolver();
+ limb.addChild(marlinRobotArm);
+ limb.addChild(limbSolver);
+ marlinRobotArm.setLimb(limb);
+ marlinRobotArm.setSolver(limbSolver);
+ assertEquals(limb, marlinRobotArm.getLimb());
+ assertEquals(limbSolver, marlinRobotArm.getSolver());
+ }
+}
\ No newline at end of file
diff --git a/src/test/java/com/marginallyclever/ro3/view/ViewProviderTest.java b/src/test/java/com/marginallyclever/ro3/view/ViewProviderTest.java
index 80f56364b..2aaef24f2 100644
--- a/src/test/java/com/marginallyclever/ro3/view/ViewProviderTest.java
+++ b/src/test/java/com/marginallyclever/ro3/view/ViewProviderTest.java
@@ -1,6 +1,7 @@
package com.marginallyclever.ro3.view;
import org.junit.Test;
+import org.junit.jupiter.api.Assertions;
import org.reflections.Reflections;
import org.reflections.scanners.Scanners;
import org.slf4j.Logger;
@@ -20,14 +21,14 @@ public void testViewProviders() {
for (Class cls : getAllClasses()) {
count++;
logger.info("View {}",cls.getSimpleName());
- assert !ViewProvider.class.isAssignableFrom(cls) :
- "Class " + cls.getName() + " must implement ViewProvider";
+ Assertions.assertTrue(ViewProvider.class.isAssignableFrom(cls),
+ "Class " + cls.getName() + " must implement ViewProvider");
}
logger.info("Found {} views.",count);
}
private Set> getAllClasses() {
- Reflections reflections = new Reflections("com.marginallyclever", Scanners.TypesAnnotated);
+ Reflections reflections = new Reflections("com.marginallyclever.ro3", Scanners.TypesAnnotated);
return reflections.getTypesAnnotatedWith(View.class);
}
}
diff --git a/src/test/resources/com/marginallyclever/ro3/apps/node/nodes/marlinrobotarm/Sixi3-5.RO b/src/test/resources/com/marginallyclever/ro3/apps/node/nodes/marlinrobotarm/Sixi3-5.RO
index 83e4317c9..25f7a0309 100644
--- a/src/test/resources/com/marginallyclever/ro3/apps/node/nodes/marlinrobotarm/Sixi3-5.RO
+++ b/src/test/resources/com/marginallyclever/ro3/apps/node/nodes/marlinrobotarm/Sixi3-5.RO
@@ -1 +1 @@
-{"children":[{"children":[{"children":[{"children":[{"children":[{"children":[{"children":[{"children":[{"children":[{"children":[{"children":[{"children":[{"children":[{"children":[{"children":[{"acceleration":0,"children":[{"children":[{"children":[],"name":"MeshInstance","type":"MeshInstance","nodeID":"dfdf791e-3d49-425e-b716-4905aaa8f91a","local":[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1],"mesh":"right arm.obj"},{"shininess":10,"isLit":true,"specularColor":-1,"children":[],"name":"Material","emissionColor":-16777216,"type":"Material","diffuseColor":-65536,"nodeID":"292604b1-8511-4df4-90c7-30476af428fd"}],"name":"RightJaw","type":"Pose","nodeID":"b2f9740d-d883-4a6e-b982-e09db1f82e88","local":[1,-0,0,0,0,1,0,0,0,0,1,0,0,0,0,1]}],"maxAngle":0,"name":"GripperServo","angle":0,"minAngle":-90,"velocity":0,"type":"HingeJoint","nodeID":"8fa21884-a806-472f-acdb-8363580129f1","axle":"b2f9740d-d883-4a6e-b982-e09db1f82e88"}],"name":"offset","type":"Pose","nodeID":"2440972a-52ea-4f2a-8c58-43d98e834211","local":[1,0,0,0.015,0,0.7071067811865476,0.7071067811865475,-1.405,0,-0.7071067811865475,0.7071067811865476,3.3256,0,0,0,1]},{"children":[{"children":[],"name":"MeshInstance","type":"MeshInstance","nodeID":"0b7c9c49-af85-4205-8ad6-959274bbfe8f","local":[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1],"mesh":"left arm.obj"},{"shininess":10,"isLit":true,"specularColor":-1,"children":[],"name":"Material","emissionColor":-16777216,"type":"Material","diffuseColor":-26317,"nodeID":"ecd23f91-3d0d-45fb-a96d-b79fe8268d7c"}],"name":"FixedLeftJaw","type":"Pose","nodeID":"10f67c7f-e71e-47df-87f2-67e6be91c2dc","local":[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1]},{"children":[],"name":"Jaw target","type":"Pose","nodeID":"ad7e8c0c-2a8d-40e2-9742-d665fd3f6cd0","local":[1,0,0,0.63,0,1,0,-3.9147,0,0,1,6.4288,0,0,0,1]}],"name":"ScrewGripper","type":"Pose","nodeID":"6511b56b-b426-4fc1-b439-6c643fe1b60b","local":[6.123233995736766E-17,1,0,0,-1,6.123233995736766E-17,0,0,0,0,1,0,0,0,0,1]}],"name":"End Effector","type":"Pose","nodeID":"72cd0146-0aff-4544-8730-27948a80fce2","local":[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1]},{"children":[],"name":"MeshInstance","type":"MeshInstance","nodeID":"8449f6a3-4168-4b82-ba40-96ce7549749e","local":[-1,-7.498798913309288E-33,1.2246467991473532E-16,-2.838976209783394E-15,7.498798913309288E-33,-1,-9.18338008663387E-49,9.129999999999999,1.2246467991473532E-16,9.18338008663387E-49,1,-43.464,0,0,0,1],"mesh":"j5.obj"},{"shininess":10,"isLit":true,"specularColor":-1,"children":[],"texture":"SIXI3_BASE.png","name":"Material","emissionColor":-16777216,"type":"Material","diffuseColor":-1,"nodeID":"5b40d155-723f-438d-bfb4-ffafe1ef3c3d"}],"name":"j5","type":"Pose","nodeID":"d4ca58f5-d1d4-4a37-88a0-d72ce120779e","local":[1,0,0,0,0,1,0,0,0,0,1,5.1,0,0,0,1]},{"r":0,"d":5.1,"children":[],"alpha":0,"name":"DH 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\ No newline at end of file
diff --git a/src/test/resources/logback-test.xml b/src/test/resources/logback-test.xml
index df5d7852d..dd281f3ff 100644
--- a/src/test/resources/logback-test.xml
+++ b/src/test/resources/logback-test.xml
@@ -11,7 +11,7 @@
-
+