def test_walk_20cm_quasistatic(self):
cs = ContactSequence()
cs.loadFromBinary(str(PATH / "walk_20cm_quasistatic.cs"))
self.assertEqual(cs.size(), 23)
self.assertFalse(cs.haveFriction())
self.assertFalse(cs.haveContactModelDefined())
self.assertTrue(cs.haveConsistentContacts())
def test_step_in_place(self):
cs = ContactSequence()
cs.loadFromBinary(str(PATH / "step_in_place.cs"))
self.assertEqual(cs.size(), 9)
self.assertTrue(cs.haveConsistentContacts())
self.assertFalse(cs.haveFriction())
self.assertFalse(cs.haveContactModelDefined())
def test_walk_20cm_quasistatic_COM(self):
cs = ContactSequence()
cs.loadFromBinary(str(PATH / "walk_20cm_quasistatic_COM.cs"))
self.assertEqual(cs.size(), 23)
self.assertTrue(cs.haveConsistentContacts())
self.assertTrue(cs.haveTimings())
self.assertTrue(cs.haveCentroidalValues())
self.assertTrue(cs.haveCentroidalTrajectories())
self.assertFalse(cs.haveFriction())
self.assertFalse(cs.haveContactModelDefined())
checkCS(self, cs, quasistatic=True, effector=False, wholeBody=False)
def test_step_in_place_REF(self):
cs = ContactSequence()
cs.loadFromBinary(str(PATH / "step_in_place_REF.cs"))
self.assertEqual(cs.size(), 9)
self.assertTrue(cs.haveConsistentContacts())
self.assertTrue(cs.haveTimings())
self.assertTrue(cs.haveCentroidalValues())
self.assertTrue(cs.haveCentroidalTrajectories())
self.assertTrue(cs.haveEffectorsTrajectories())
self.assertTrue(cs.haveEffectorsTrajectories(1e-6, False))
self.assertTrue(cs.haveFriction())
self.assertTrue(cs.haveContactModelDefined())
checkCS(self, cs, root=True, effector=True, wholeBody=False)
def test_walk_20cm_quasistatic_WB(self):
cs = ContactSequence()
cs.loadFromBinary(str(PATH / "walk_20cm_quasistatic_WB.cs"))
self.assertEqual(cs.size(), 23)
self.assertTrue(cs.haveConsistentContacts())
self.assertTrue(cs.haveTimings())
self.assertTrue(cs.haveCentroidalValues())
self.assertTrue(cs.haveCentroidalTrajectories())
self.assertTrue(cs.haveEffectorsTrajectories(1e-1))
self.assertTrue(cs.haveJointsTrajectories())
self.assertTrue(cs.haveJointsDerivativesTrajectories())
self.assertTrue(cs.haveContactForcesTrajectories())
self.assertTrue(cs.haveZMPtrajectories())
self.assertTrue(cs.haveFriction())
self.assertTrue(cs.haveContactModelDefined())
checkCS(self, cs, quasistatic=True, effector=True, wholeBody=True)