public FootstepPlanningToolboxModule(DRCRobotModel drcRobotModel, LogModelProvider modelProvider, boolean startYoVariableServer,
DomainFactory.PubSubImplementation pubSubImplementation) throws IOException
{
super(drcRobotModel.getSimpleRobotName(), drcRobotModel.createFullRobotModel(), modelProvider, startYoVariableServer, pubSubImplementation);
setTimeWithoutInputsBeforeGoingToSleep(Double.POSITIVE_INFINITY);
footstepPlanningToolboxController = new FootstepPlanningToolboxController(drcRobotModel.getContactPointParameters(),
drcRobotModel.getFootstepPlannerParameters(),
drcRobotModel.getVisibilityGraphsParameters(), statusOutputManager, registry,
yoGraphicsListRegistry,
Conversions.millisecondsToSeconds(DEFAULT_UPDATE_PERIOD_MILLISECONDS));
footstepPlanningToolboxController.setTextToSpeechPublisher(textToSpeechPublisher);
startYoVariableServer();
}