feetContactSensorNames, wristForceSensorNames, walkingControllerParameters, armControllerParameters, capturePointPlannerParameters, HighLevelState.DO_NOTHING_BEHAVIOR); DiagnosticsWhenHangingControllerFactory diagnosticsWhenHangingControllerFactory = new DiagnosticsWhenHangingControllerFactory(humanoidJointPoseList, useArms, robotIsHanging, null); diagnosticsWhenHangingControllerFactory.setTransitionRequested(true); momentumBasedControllerFactory.addHighLevelBehaviorFactory(diagnosticsWhenHangingControllerFactory); momentumBasedControllerFactory.setICPOptimizationControllerParameters(icpOptimizationParameters); throw new RuntimeException("This only works with model corruption on. Change DRCControllerThread.ALLOW_MODEL_CORRUPTION to true!"); controller = diagnosticsWhenHangingControllerFactory.getController(); analyzer = new HumanoidDiagnosticsWhenHangingAnalyzer(simulationConstructionSet, controller, fullRobotModelCorruptor);
feetContactSensorNames, wristForceSensorNames, walkingControllerParameters, armControllerParameters, capturePointPlannerParameters, HighLevelState.DO_NOTHING_BEHAVIOR); DiagnosticsWhenHangingControllerFactory diagnosticsWhenHangingControllerFactory = new DiagnosticsWhenHangingControllerFactory(humanoidJointPoseList, useArms, robotIsHanging, null); diagnosticsWhenHangingControllerFactory.setTransitionRequested(true); momentumBasedControllerFactory.addHighLevelBehaviorFactory(diagnosticsWhenHangingControllerFactory); momentumBasedControllerFactory.setICPOptimizationControllerParameters(icpOptimizationParameters); throw new RuntimeException("This only works with model corruption on. Change DRCControllerThread.ALLOW_MODEL_CORRUPTION to true!"); controller = diagnosticsWhenHangingControllerFactory.getController(); analyzer = new HumanoidDiagnosticsWhenHangingAnalyzer(simulationConstructionSet, controller, fullRobotModelCorruptor);