How to use

us.ihmc.simulationToolkit.controllers.PassiveJointController

constructor

private void setupPassiveJoints()
{
 YoVariableRegistry robotsYoVariableRegistry = humanoidFloatingRootJointRobot.getRobotsYoVariableRegistry();
 List<ImmutablePair<String, YoPDGains>> passiveJointNameWithGains = robotModel.get().getJointMap().getPassiveJointNameWithGains(robotsYoVariableRegistry);
 if (passiveJointNameWithGains != null)
 {
   for (int i = 0; i < passiveJointNameWithGains.size(); i++)
   {
    String jointName = passiveJointNameWithGains.get(i).getLeft();
    OneDegreeOfFreedomJoint simulatedJoint = humanoidFloatingRootJointRobot.getOneDegreeOfFreedomJoint(jointName);
    YoPDGains gains = passiveJointNameWithGains.get(i).getRight();
    PassiveJointController passiveJointController = new PassiveJointController(simulatedJoint, gains);
    humanoidFloatingRootJointRobot.setController(passiveJointController);
   }
 }
}

private void setupPassiveJoints()
{
 YoVariableRegistry robotsYoVariableRegistry = humanoidFloatingRootJointRobot.getRobotsYoVariableRegistry();
 List<ImmutablePair<String, YoPDGains>> passiveJointNameWithGains = robotModel.get().getJointMap().getPassiveJointNameWithGains(robotsYoVariableRegistry);
 if (passiveJointNameWithGains != null)
 {
   for (int i = 0; i < passiveJointNameWithGains.size(); i++)
   {
    String jointName = passiveJointNameWithGains.get(i).getLeft();
    OneDegreeOfFreedomJoint simulatedJoint = humanoidFloatingRootJointRobot.getOneDegreeOfFreedomJoint(jointName);
    YoPDGains gains = passiveJointNameWithGains.get(i).getRight();
    PassiveJointController passiveJointController = new PassiveJointController(simulatedJoint, gains);
    humanoidFloatingRootJointRobot.setController(passiveJointController);
   }
 }
}