public void testWalkingForwardFast()
      throws SimulationExceededMaximumTimeException, ControllerFailureException, IOException {
    QuadrupedTestBehaviors.standUp(conductor, variables);

    variables.getYoPlanarVelocityInputX().set(0.15);
    conductor.addSustainGoal(QuadrupedTestGoals.notFallen(variables));
    conductor.addSustainGoal(
        YoVariableTestGoal.doubleLessThan(
            variables.getYoTime(), variables.getYoTime().getDoubleValue() + 25.0));
    conductor.addTerminalGoal(YoVariableTestGoal.doubleGreaterThan(variables.getRobotBodyX(), 1.5));
    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();
  }