SideDependentList<String> feetContactSensorNames = sensorInformation.getFeetContactSensorNames(); SideDependentList<String> wristForceSensorNames = sensorInformation.getWristForceSensorNames(); HighLevelHumanoidControllerFactory controllerFactory = new HighLevelHumanoidControllerFactory(contactableBodiesFactory, feetForceSensorNames, feetContactSensorNames, wristForceSensorNames, highLevelControllerParameters, walkingControllerParameters,
SideDependentList<String> wristForceSensorNames = sensorInformation.getWristForceSensorNames(); controllerFactory = new HighLevelHumanoidControllerFactory(contactableBodiesFactory, feetForceSensorNames, feetContactSensorNames, wristForceSensorNames, highLevelControllerParameters, walkingControllerParameters, capturePointPlannerParameters); setupHighLevelStates(controllerFactory);
contactableBodiesFactory.addAdditionalContactPoint(additionalContactRigidBodyNames.get(i), additionalContactNames.get(i), additionalContactTransforms.get(i)); HighLevelHumanoidControllerFactory controllerFactory = new HighLevelHumanoidControllerFactory(contactableBodiesFactory, feetForceSensorNames, feetContactSensorNames, wristForceSensorNames, highLevelControllerParameters, walkingControllerParameters, capturePointPlannerParameters);
SideDependentList<String> feetForceSensorNames = sensorInformation.getFeetForceSensorNames(); SideDependentList<String> wristForceSensorNames = sensorInformation.getWristForceSensorNames(); HighLevelHumanoidControllerFactory controllerFactory = new HighLevelHumanoidControllerFactory(contactableBodiesFactory, feetForceSensorNames, feetContactSensorNames, wristForceSensorNames, highLevelControllerParameters, walkingControllerParameters,
SideDependentList<String> wristForceSensorNames = sensorInformation.getWristForceSensorNames(); HighLevelHumanoidControllerFactory controllerFactory = new HighLevelHumanoidControllerFactory(contactableBodiesFactory, footSensorNames, feetContactSensorNames, wristForceSensorNames, highLevelControllerParameters, walkingControllerParameters,
SideDependentList<String> feetForceSensorNames = sensorInformation.getFeetForceSensorNames(); SideDependentList<String> wristForceSensorNames = sensorInformation.getWristForceSensorNames(); HighLevelHumanoidControllerFactory controllerFactory = new HighLevelHumanoidControllerFactory(contactableBodiesFactory, feetForceSensorNames, feetContactSensorNames, wristForceSensorNames, highLevelControllerParameters, walkingControllerParamaters, capturePointPlannerParameters);
SideDependentList<String> wristForceSensorNames = sensorInformation.getWristForceSensorNames(); HighLevelHumanoidControllerFactory controllerFactory = new HighLevelHumanoidControllerFactory(contactableBodiesFactory, feetForceSensorNames, feetContactSensorNames, wristForceSensorNames, highLevelControllerParameters, walkingControllerParamaters,