@ContinuousIntegrationTest(
estimatedDuration = 50.0,
categoriesOverride = IntegrationCategory.EXCLUDE)
@Test(timeout = 300000)
public void testWalkForwardsX() throws SimulationExceededMaximumTimeException {
BambooTools.reportTestStartedMessage(simulationTestingParameters.getShowWindows());
boolean success = drcSimulationTestHelper.simulateAndBlockAndCatchExceptions(1.0);
assertTrue(success);
double walkDistance = RandomTools.generateRandomDouble(new Random(), 1.0, 2.0);
Vector2d walkDirection = new Vector2d(1, 0);
double trajectoryTime = walkDistance / ASSUMED_WALKING_SPEED_mPerSec;
WalkToGoalBehavior walkToGoalBehavior =
testWalkToGoalBehavior(walkDistance, walkDirection, trajectoryTime);
assertTrue(walkToGoalBehavior.isDone());
BambooTools.reportTestFinishedMessage(simulationTestingParameters.getShowWindows());
}
@Ignore("Needs to be improved")
@ContinuousIntegrationTest(estimatedDuration = 67.1)
@Test(timeout = 340000)
public void testMultiStepForwardAndContinueWalking()
throws SimulationExceededMaximumTimeException, InterruptedException,
ControllerFailureException {
BambooTools.reportTestStartedMessage(simulationTestingParameters.getShowWindows());
setupTest(getRobotModel());
SimulationConstructionSet scs = drcFlatGroundWalkingTrack.getSimulationConstructionSet();
setForwardPushParameters();
Vector3d forceDirection = new Vector3d(1.0, 0.0, 0.0);
blockingSimulationRunner = new BlockingSimulationRunner(scs, 1000.0);
BooleanYoVariable walk =
(BooleanYoVariable) scs.getVariable("ComponentBasedFootstepDataMessageGenerator", "walk");
// disable walking
walk.set(false);
blockingSimulationRunner.simulateAndBlock(4.0);
// push the robot
pushRobotController.applyForceDelayed(
pushCondition, PUSH_DELAY, forceDirection, forceMagnitude, forceDuration);
// simulate for a little while longer
blockingSimulationRunner.simulateAndBlock(forceDuration + 6.0);
// re-enable walking
walk.set(true);
blockingSimulationRunner.simulateAndBlock(6.0);
Point3d center = new Point3d(0.0, 0.0, 0.8882009563211146);
Vector3d plusMinusVector =
new Vector3d(Double.POSITIVE_INFINITY, Double.POSITIVE_INFINITY, 0.5);
BoundingBox3d boundingBox =
BoundingBox3d.createUsingCenterAndPlusMinusVector(center, plusMinusVector);
DRCSimulationTestHelper.assertRobotsRootJointIsInBoundingBox(
boundingBox, drcFlatGroundWalkingTrack.getDrcSimulation().getRobot());
createVideo(scs);
BambooTools.reportTestFinishedMessage(simulationTestingParameters.getShowWindows());
}
