fullRobotModel.updateFrames(); controller.updateDiagnosticsWhenHangingHelpers(); controller.addOffsetTorquesToAppliedTorques();
updateDiagnosticsWhenHangingHelpers(); updatePDControllers(); if (updateFootForceSensorOffsets.getBooleanValue())
fullRobotModel.updateFrames(); controller.updateDiagnosticsWhenHangingHelpers(); controller.addOffsetTorquesToAppliedTorques();
updateDiagnosticsWhenHangingHelpers(); updatePDControllers(); if (updateFootForceSensorOffsets.getBooleanValue())