unit tests

Author: madhephaestus

src/main/java/org/mujoco/MuJoCoModelManager.java

@@ -40,7 +40,7 @@ private void loadFromFile(File config) {
 		m = MuJoCoLib.mj_loadXML(config.getAbsolutePath(), null, error,error_sz);
 		if(m==null)
 			throw new RuntimeException("Model File Failed to load "+error.getString()+" code "+error_sz);
-		System.out.println("Humanoid model loaded " + m);
+		System.out.println("MuJoCo model loaded " + config.getAbsolutePath());
 		d = MuJoCoLib.mj_makeData(m);
 		setModel(new mjModel_(m));
 		setData(new mjData_(d));
@@ -78,7 +78,10 @@ public mjData_ getData() {
 	public void setData(mjData_ daccessable) {
 		this.daccessable = daccessable;
 	}
-	
+	public void step() {
+		stepOne();
+		stepTwo();
+	}
 	public void stepOne() {
 		MuJoCoLib.mj_step1(m, d);
 	}

src/test/java/mujoco/java/MuJoColibTest.java

@@ -15,8 +15,29 @@
 import org.mujoco.MuJoCoLib.mjModel;
 import org.mujoco.MuJoCoLib.mjModel_;
 import org.mujoco.MuJoCoLib.mjVFS;
+import org.mujoco.MuJoCoModelManager;
 
 public class MuJoColibTest {
+	@Test
+	public void managerTest() throws InterruptedException {
+		String filename = "model/humanoid/humanoid.xml";
+		File file = new File(filename);
+		if(!file.exists()) {
+			fail("File is missing from the disk");
+		}
+		MuJoCoModelManager m = new MuJoCoModelManager(file);
+		mjModel_ model = m.getModel();
+		mjData_ data = m.getData();
+		System.out.println("Run model for 10 seconds");
+		while (data.time() < 10) {
+			m.stepOne();
+			//apply controls
+			m.stepTwo();
+			// sleep
+			Thread.sleep(1);
+		}
+		m.close();
+	}
 	@Test
 	public void mujocoJNILoadTest() {
 		System.out.println(System.getProperty("org.bytedeco.javacpp.logger.debug"));