package us.ihmc.atlas.controllerAPI;

import org.junit.jupiter.api.Tag;
import org.junit.jupiter.api.Test;

import us.ihmc.atlas.AtlasRobotModel;
import us.ihmc.atlas.AtlasRobotVersion;
import us.ihmc.avatar.controllerAPI.EndToEndHandLoadBearingTest;
import us.ihmc.avatar.drcRobot.DRCRobotModel;
import us.ihmc.avatar.drcRobot.RobotTarget;
import us.ihmc.simulationConstructionSetTools.bambooTools.BambooTools;
import us.ihmc.simulationconstructionset.util.simulationRunner.BlockingSimulationRunner.SimulationExceededMaximumTimeException;

public class AtlasEndToEndHandLoadBearingTest extends EndToEndHandLoadBearingTest
{
   private final AtlasRobotModel robotModel = new AtlasRobotModel(AtlasRobotVersion.ATLAS_UNPLUGGED_V5_NO_HANDS, RobotTarget.SCS, false, true);

   @Tag("controller-api")
   @Override
   @Test
   public void testUsingHand() throws SimulationExceededMaximumTimeException
   {
      super.testUsingHand();
   }

   @Override
   public DRCRobotModel getRobotModel()
   {
      return robotModel;
   }

   @Override
   public String getSimpleRobotName()
   {
      return BambooTools.getSimpleRobotNameFor(BambooTools.SimpleRobotNameKeys.ATLAS);
   }

}
