package us.ihmc.atlas.obstacleCourseTests;

import org.junit.jupiter.api.Tag;

import us.ihmc.atlas.AtlasRobotModel;
import us.ihmc.atlas.AtlasRobotVersion;
import us.ihmc.atlas.parameters.AtlasWalkingControllerParameters;
import us.ihmc.avatar.drcRobot.DRCRobotModel;
import us.ihmc.avatar.obstacleCourseTests.AvatarBigStepDownTest;
import us.ihmc.commonWalkingControlModules.configurations.WalkingControllerParameters;
import us.ihmc.simulationConstructionSetTools.bambooTools.BambooTools;

@Tag("humanoid-obstacle")
public class AtlasBigStepDownTest extends AvatarBigStepDownTest
{

   @Override
   public DRCRobotModel getRobotModel()
   {
      DRCRobotModel robotModel = new AtlasRobotModel(AtlasRobotVersion.ATLAS_UNPLUGGED_V5_NO_HANDS)
      {
         @Override
         public WalkingControllerParameters getWalkingControllerParameters()
         {
            return new AtlasWalkingControllerParameters(getTarget(), getJointMap(), getContactPointParameters())
            {
               @Override
               public double nominalHeightAboveAnkle()
               {
                  return 0.849;
               }
            };
         }
      };

      return robotModel;
   }

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