private OscillateFeetPerturber generateFeetPertuber(final SimulationConstructionSet simulationConstructionSet, HumanoidFloatingRootJointRobot robot, int ticksPerPerturbation)
{
OscillateFeetPerturber oscillateFeetPerturber = new OscillateFeetPerturber(robot, simulationConstructionSet.getDT() * (ticksPerPerturbation));
oscillateFeetPerturber.setTranslationMagnitude(new double[] { 0.008, 0.012, 0.005 });
oscillateFeetPerturber.setRotationMagnitudeYawPitchRoll(new double[] { 0.010, 0.06, 0.010 });
oscillateFeetPerturber.setTranslationFrequencyHz(RobotSide.LEFT, new double[] { 1.0, 2.5, 3.3 });
oscillateFeetPerturber.setTranslationFrequencyHz(RobotSide.RIGHT, new double[] { 2.0, 0.5, 1.3 });
oscillateFeetPerturber.setRotationFrequencyHzYawPitchRoll(RobotSide.LEFT, new double[] { 5.0, 0.5, 0.3 });
oscillateFeetPerturber.setRotationFrequencyHzYawPitchRoll(RobotSide.RIGHT, new double[] { 0.2, 3.4, 1.11 });
return oscillateFeetPerturber;
}