protected void setupTest(DRCRobotModel robotModel)
throws SimulationExceededMaximumTimeException, InterruptedException {
boolean runMultiThreaded = false;
setupTrack(runMultiThreaded, robotModel);
FullHumanoidRobotModel fullRobotModel = robotModel.createFullRobotModel();
pushRobotController =
new PushRobotController(
drcFlatGroundWalkingTrack.getDrcSimulation().getRobot(), fullRobotModel);
if (VISUALIZE_FORCE) {
drcFlatGroundWalkingTrack
.getSimulationConstructionSet()
.addYoGraphic(pushRobotController.getForceVisualizer());
}
SimulationConstructionSet scs = drcFlatGroundWalkingTrack.getSimulationConstructionSet();
BooleanYoVariable enable =
(BooleanYoVariable) scs.getVariable("PushRecoveryControlModule", "enablePushRecovery");
// enable push recovery
enable.set(true);
for (RobotSide robotSide : RobotSide.values) {
String prefix = fullRobotModel.getFoot(robotSide).getName();
scs.getVariable(prefix + "FootControlModule", prefix + "State");
@SuppressWarnings("unchecked")
final EnumYoVariable<WalkingStateEnum> walkingState =
(EnumYoVariable<WalkingStateEnum>)
scs.getVariable("WalkingHighLevelHumanoidController", "walkingState");
doubleSupportStartConditions.put(
robotSide, new DoubleSupportStartCondition(walkingState, robotSide));
}
}
@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());
}
private void setupTrack(boolean runMultiThreaded, DRCRobotModel robotModel) {
DRCGuiInitialSetup guiInitialSetup =
new DRCGuiInitialSetup(true, false, simulationTestingParameters);
GroundProfile3D groundProfile = new FlatGroundProfile();
DRCSCSInitialSetup scsInitialSetup =
new DRCSCSInitialSetup(groundProfile, robotModel.getSimulateDT());
// scsInitialSetup.setInitializeEstimatorToActual(true);
scsInitialSetup.setDrawGroundProfile(true);
scsInitialSetup.setRunMultiThreaded(runMultiThreaded);
DRCRobotInitialSetup<HumanoidFloatingRootJointRobot> robotInitialSetup =
robotModel.getDefaultRobotInitialSetup(0.0, 0.0);
drcFlatGroundWalkingTrack =
new DRCFlatGroundWalkingTrack(
robotInitialSetup, guiInitialSetup, scsInitialSetup, true, false, robotModel);
drcFlatGroundWalkingTrack.getDrcSimulation();
}
@After
public void destroySimulationAndRecycleMemory() {
if (simulationTestingParameters.getKeepSCSUp()) {
ThreadTools.sleepForever();
}
// Do this here in case a test fails. That way the memory will be recycled.
if (drcFlatGroundWalkingTrack != null) {
drcFlatGroundWalkingTrack.destroySimulation();
drcFlatGroundWalkingTrack = null;
}
if (blockingSimulationRunner != null) {
blockingSimulationRunner.destroySimulation();
blockingSimulationRunner = null;
}
pushRobotController = null;
doubleSupportStartConditions = null;
pushCondition = null;
MemoryTools.printCurrentMemoryUsageAndReturnUsedMemoryInMB(
getClass().getSimpleName() + " after test.");
}