如何从jetpack组件测试导航抽屉？

dependencies {
    androidTestImplementation "androidx.test.espresso:espresso-core:3.4.0"
    androidTestImplementation "androidx.test.espresso:espresso-contrib:3.4.0"
    // 其他依赖
}

import androidx.test.ext.junit.runners.AndroidJUnit4;
import androidx.test.filters.LargeTest;

import org.junit.runner.RunWith;

@RunWith(AndroidJUnit4.class)
@LargeTest
public class NavigationDrawerTest {
    // 测试代码
}

import androidx.test.espresso.contrib.DrawerActions;
import androidx.test.espresso.contrib.NavigationViewActions;
import androidx.test.espresso.intent.rule.IntentsTestRule;

import org.junit.Rule;
import org.junit.Test;

import static androidx.test.espresso.Espresso.onView;
import static androidx.test.espresso.action.ViewActions.click;
import static androidx.test.espresso.matcher.ViewMatchers.withId;

public class NavigationDrawerTest {
    @Rule
    public IntentsTestRule<MainActivity> mActivityRule = new IntentsTestRule<>(MainActivity.class);

    @Test
    public void testNavigationDrawer() {
        // 打开导航抽屉
        onView(withId(R.id.drawer_layout)).perform(DrawerActions.open());

        // 点击导航菜单项
        onView(withId(R.id.nav_view)).perform(NavigationViewActions.navigateTo(R.id.nav_item1));

        // 验证是否打开了对应的页面
        // TODO: 编写验证代码
    }
}