controllerFactory.attachControllerFailureListeners(controllerFailureListeners); controllerFactory.setICPOptimizationControllerParameters(icpOptimizationParameters); if (setupControllerNetworkSubscriber)
gravityZ, omega0, twistCalculator, feet, handContactableBodies, controlDT, updatables, yoGraphicsListRegistry, jointsToIgnore); momentumBasedController.attachControllerStateChangedListeners(controllerStateChangedListenersToAttach); attachControllerFailureListeners(controllerFailureListenersToAttach); if (createComponentBasedFootstepDataMessageGenerator) createComponentBasedFootstepDataMessageGenerator(useHeadingAndVelocityScript, heightMapForFootstepZ);
controllerFactory.attachControllerFailureListeners(controllerFailureListeners); controllerFactory.setICPOptimizationControllerParameters(icpOptimizationParameters); if (setupControllerNetworkSubscriber)