controllerFactory.setHeadingAndVelocityEvaluationScriptParameters(walkingScriptParameters);
walkingControllerParameters, capturePointPlannerParameters); setupHighLevelStates(controllerFactory, feetForceSensorNames, highLevelControllerParameters.getFallbackControllerState()); controllerFactory.setHeadingAndVelocityEvaluationScriptParameters(walkingScriptParameters);