How to use

addForceSensor

method

in

us.ihmc.modelFileLoaders.SdfLoader.JaxbSDFLoader

loader.addForceSensor(jointMap, forceSensorNames, forceSensorNames, transform);

loader.addForceSensor(jointMap, forceSensorNames, forceSensorNames, transform);

public BonoRobotModel(boolean runningOnRealRobot, boolean headless)
{
 this.runningOnRealRobot = runningOnRealRobot;
 sensorInformation = new BonoSensorInformation();
 this.loader = DRCRobotSDFLoader.loadDRCRobot(getResourceDirectories(), getSdfFileAsStream(), null);
 for (String forceSensorNames : getSensorInformation().getForceSensorNames())
 {
   loader.addForceSensor(jointMap, forceSensorNames, forceSensorNames, new RigidBodyTransform());
 }
 capturePointPlannerParameters = new BonoCapturePointPlannerParameters(runningOnRealRobot);
 walkingControllerParameters = new BonoWalkingControllerParameters(jointMap, runningOnRealRobot);
 highLevelControllerParameters = new BonoHighLevelControllerParameters(jointMap);
 robotDescription = createRobotDescription();
}

public WandererRobotModel(boolean runningOnRealRobot, boolean headless)
{
 this.runningOnRealRobot = runningOnRealRobot;
 sensorInformation = new WandererSensorInformation();
 this.loader = DRCRobotSDFLoader.loadDRCRobot(getResourceDirectories(), getSdfFileAsStream(), null);
 for (String forceSensorNames : getSensorInformation().getForceSensorNames())
 {
   loader.addForceSensor(jointMap, forceSensorNames, forceSensorNames, new RigidBodyTransform());
 }
 capturePointPlannerParameters = new WandererCapturePointPlannerParameters(runningOnRealRobot);
 walkingControllerParameters = new WandererWalkingControllerParameters(jointMap, runningOnRealRobot);
 highLevelControllerParameters = new WandererHighLevelControllerParameters(jointMap);
 robotDescription = createRobotDescription();
}