contactPointParameters.getControllerToeContactLines()); for (int i = 0; i < contactPointParameters.getAdditionalContactNames().size(); i++) contactableBodiesFactory.addAdditionalContactPoint(additionalContactRigidBodyNames.get(i), additionalContactNames.get(i), additionalContactTransforms.get(i));
contactableBodiesFactory.setToeContactParameters(contactPointParameters.getControllerToeContactPoints(), contactPointParameters.getControllerToeContactLines()); for (int i = 0; i < contactPointParameters.getAdditionalContactNames().size(); i++) contactableBodiesFactory.addAdditionalContactPoint(additionalContactRigidBodyNames.get(i), additionaContactNames.get(i), additionalContactTransforms.get(i));
contactableBodiesFactory.setToeContactParameters(contactPointParameters.getControllerToeContactPoints(), contactPointParameters.getControllerToeContactLines()); for (int i = 0; i < contactPointParameters.getAdditionalContactNames().size(); i++) contactableBodiesFactory.addAdditionalContactPoint(additionalContactRigidBodyNames.get(i), additionalContactNames.get(i), additionalContactTransforms.get(i));
contactPointParameters.getControllerToeContactLines()); for (int i = 0; i < contactPointParameters.getAdditionalContactNames().size(); i++) contactableBodiesFactory.addAdditionalContactPoint(additionalContactRigidBodyNames.get(i), additionalContactNames.get(i), additionalContactTransforms.get(i)); contactableBodiesFactory.setFullRobotModel(fullRobotModel);
contactPointParameters.getControllerToeContactLines()); for (int i = 0; i < contactPointParameters.getAdditionalContactNames().size(); i++) contactableBodiesFactory.addAdditionalContactPoint(additionalContactRigidBodyNames.get(i), additionalContactNames.get(i), additionalContactTransforms.get(i));
contactPointParameters.getControllerToeContactLines()); for (int i = 0; i < contactPointParameters.getAdditionalContactNames().size(); i++) contactableBodiesFactory.addAdditionalContactPoint(additionalContactRigidBodyNames.get(i), additionalContactNames.get(i), additionalContactTransforms.get(i));
contactPointParameters.getControllerToeContactLines()); for (int i = 0; i < contactPointParameters.getAdditionalContactNames().size(); i++) contactableBodiesFactory.addAdditionalContactPoint(additionalContactRigidBodyNames.get(i), additionalContactNames.get(i), additionalContactTransforms.get(i));