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()); } }