adding to the manager class

Author: hephaestus

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

@@ -11,6 +11,7 @@
 import org.mujoco.MuJoCoLib.mjData_;
 import org.mujoco.MuJoCoLib.mjModel;
 import org.mujoco.MuJoCoLib.mjModel_;
+import org.mujoco.MuJoCoLib.mjOption_;
 import org.mujoco.MuJoCoLib.mjVFS;
 
 public class MuJoCoModelManager {
@@ -20,7 +21,7 @@ public class MuJoCoModelManager {
 	private mjData d;
 	private mjModel_ maccessable;
 	private mjData_ daccessable;
-
+	private mjOption_ opt;
 	public MuJoCoModelManager(File config){
 		loadFromFile(config);
 	}
@@ -44,8 +45,16 @@ private void loadFromFile(File config) {
 		d = MuJoCoLib.mj_makeData(m);
 		setModel(new mjModel_(m));
 		setData(new mjData_(d));
+		setOpt(new mjOption_(getModel().opt()));
+		
 	}
 
+	public double getTimestepSeconds() {
+		return getOpt().timestep();
+	}
+	public long getTimestepMilliSeconds() {
+		return (long)(getTimestepSeconds()*1000);
+	}
 	public void close() {
 		MuJoCoLib.mj_deleteData(d);
 		MuJoCoLib.mj_deleteModel(m);
@@ -88,4 +97,16 @@ public void stepOne() {
 	public void stepTwo() {
 		MuJoCoLib.mj_step2(m, d);
 	}
+	/**
+	 * @return the opt
+	 */
+	public mjOption_ getOpt() {
+		return opt;
+	}
+	/**
+	 * @param opt the opt to set
+	 */
+	public void setOpt(mjOption_ opt) {
+		this.opt = opt;
+	}
 }

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

@@ -14,12 +14,14 @@
 import org.mujoco.MuJoCoLib.mjData_;
 import org.mujoco.MuJoCoLib.mjModel;
 import org.mujoco.MuJoCoLib.mjModel_;
+import org.mujoco.MuJoCoLib.mjOption_;
 import org.mujoco.MuJoCoLib.mjVFS;
 import org.mujoco.MuJoCoModelManager;
 
 public class MuJoColibTest {
 	@Test
 	public void managerTest() throws InterruptedException {
+		System.out.println("managerTest");
 		String filename = "model/humanoid/humanoid.xml";
 		File file = new File(filename);
 		if(!file.exists()) {
@@ -28,18 +30,19 @@ public void managerTest() throws InterruptedException {
 		MuJoCoModelManager m = new MuJoCoModelManager(file);
 		mjModel_ model = m.getModel();
 		mjData_ data = m.getData();
-		System.out.println("Run model for 10 seconds");
+		System.out.println("Run ModelManager for 10 seconds");
 		while (data.time() < 10) {
 			m.stepOne();
 			//apply controls
 			m.stepTwo();
 			// sleep
-			Thread.sleep(1);
+			Thread.sleep(m.getTimestepMilliSeconds());
 		}
 		m.close();
 	}
 	@Test
 	public void mujocoJNILoadTest() {
+		System.out.println("mujocoJNILoadTest");
 		System.out.println(System.getProperty("org.bytedeco.javacpp.logger.debug"));
 		System.setProperty("org.bytedeco.javacpp.logger.debug", "true");
 		MuJoCoLib lib = new MuJoCoLib();
@@ -70,7 +73,8 @@ public void mujocoJNILoadTest() {
 				System.out.println("Run model for 10 seconds");
 				while (accessable.time() < 10) {
 					MuJoCoLib.mj_step(m, d);
-					Thread.sleep(1);
+					double timestep = new mjOption_(Maccessable.opt()).timestep()*1000;
+					Thread.sleep((long) timestep);
 
 				}