public void testWalkingBackwardsSlow()
throws SimulationExceededMaximumTimeException, ControllerFailureException, IOException {
QuadrupedTestBehaviors.standUp(conductor, variables);
variables.getYoPlanarVelocityInputX().set(-0.06);
conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
conductor.addSustainGoal(
YoVariableTestGoal.doubleLessThan(
variables.getYoTime(), variables.getYoTime().getDoubleValue() + 25.0));
conductor.addTerminalGoal(YoVariableTestGoal.doubleLessThan(variables.getRobotBodyX(), -0.48));
conductor.simulate();
conductor.concludeTesting();
}
public void testWalkingInABackwardRightCircle()
throws SimulationExceededMaximumTimeException, ControllerFailureException, IOException {
QuadrupedTestBehaviors.standUp(conductor, variables);
variables.getYoPlanarVelocityInputX().set(-0.1);
variables.getYoPlanarVelocityInputZ().set(-0.06);
conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
conductor.addTerminalGoal(
YoVariableTestGoal.doubleGreaterThan(
variables.getYoTime(), variables.getYoTime().getDoubleValue() + 30.0));
conductor.simulate();
conductor.concludeTesting();
}
@Before
public void setup() {
try {
MemoryTools.printCurrentMemoryUsageAndReturnUsedMemoryInMB(
getClass().getSimpleName() + " before test.");
ParameterRegistry.destroyAndRecreateInstance();
QuadrupedTestFactory quadrupedTestFactory = createQuadrupedTestFactory();
quadrupedTestFactory.setControlMode(QuadrupedControlMode.POSITION);
quadrupedTestFactory.setGroundContactModelType(QuadrupedGroundContactModelType.FLAT);
conductor = quadrupedTestFactory.createTestConductor();
variables = new QuadrupedPositionTestYoVariables(conductor.getScs());
} catch (IOException e) {
throw new RuntimeException("Error loading simulation: " + e.getMessage());
}
}