Added open-close cabinet door test

unity/Assets/Scripts/CanOpen_Object.cs

@@ -393,7 +393,7 @@ public void stepOpen(
             if ((armBase.IKTarget.position - armBase.armShoulder.position).magnitude + 1e-5 >= armBase.bone2Length + armBase.bone3Length) {
                 failure = failState.hyperextension;
 #if UNITY_EDITOR
-        Debug.Log("Agent-arm hyperxtended at " + elapsedTime + ". Resetting openness.");
+        Debug.Log("Agent-arm hyperextended at " + elapsedTime + ". Resetting openness.");
 #endif
             }
         }

unity/Assets/UnitTests/Procedural/Physics/TestOpenClose.cs

@@ -0,0 +1,78 @@
+using System.Collections;
+using System.Collections.Generic;
+using NUnit.Framework;
+using System;
+using UnityEngine;
+using UnityEngine.TestTools;
+using UnityStandardAssets.Characters.FirstPerson;
+using System.Linq;
+
+namespace Tests {
+    public class TestOpenClose : TestBase {
+        [SetUp]
+        public override void Setup() {
+            UnityEngine.SceneManagement.SceneManager.LoadScene("FloorPlan1_physics");
+        }
+
+        [UnityTest]
+        public IEnumerator TestOpening() {
+
+            yield return step(new Dictionary<string, object>() {
+                    { "action", "Initialize"},
+                    { "agentMode", "arm"},
+                    { "agentControllerType", "mid-level"},
+                    { "renderInstanceSegmentation", true}
+                });
+            yield return new WaitForSeconds(2f);
+
+            yield return step(new Dictionary<string, object>() {
+                    { "action", "MoveAgent"},
+                    { "right", -0.7f},
+                    { "disableRendering", true},
+                    { "returnToStart", true}
+                });
+
+            //yield return new WaitForSeconds(2f);
+            yield return step(new Dictionary<string, object>() {
+                    { "action", "MoveArm"},
+                    { "coordinateSpace", "world"},
+                    { "disableRendering", true},
+                    { "position", new Vector3(-1.3149f, 0.6049995f, 0.04580003f)}
+                });
+
+            //yield return new WaitForSeconds(2f);
+            yield return step(new Dictionary<string, object>() {
+                    { "action", "LookDown"},
+                    { "degrees", 30f} 
+                });
+
+            //yield return new WaitForSeconds(2f);
+            yield return step(new Dictionary<string, object>() {
+                    { "action", "OpenObject"},
+                    { "objectId", "Cabinet|-01.55|+00.50|+00.38"},
+                    { "useGripper", true},
+                    { "returnToStart", true},
+                    { "stopAtNonStaticCol", false}
+                });
+            yield return new WaitForSeconds(2f);
+
+            Transform testCabinetDoor = GameObject.Find("Cabinet_242ff8ff").transform.Find("CabinetDoor");
+            bool testCabinetDoorOpened = Mathf.Approximately((testCabinetDoor.localEulerAngles.y + 360) % 360, 270);
+            Assert.AreEqual(testCabinetDoorOpened, true);
+
+            yield return true;
+        }
+
+        protected string serializeObject(object obj) {
+            var jsonResolver = new ShouldSerializeContractResolver();
+            return Newtonsoft.Json.JsonConvert.SerializeObject(
+                obj,
+                Newtonsoft.Json.Formatting.None,
+                new Newtonsoft.Json.JsonSerializerSettings() {
+                    ReferenceLoopHandling = Newtonsoft.Json.ReferenceLoopHandling.Ignore,
+                    ContractResolver = jsonResolver
+                }
+            );
+        }
+    }
+}