pinJoint1.addKinematicPoint(kinematicPoint1); IMUMount imuMount1 = new IMUMount("imuMount1", imu1Offset, this); pinJoint1.addIMUMount(imuMount1); pinJoint2.addKinematicPoint(kinematicPoint2); IMUMount imuMount2 = new IMUMount("imuMount2", imu2Offset, this); pinJoint2.addIMUMount(imuMount2); pinJoint2.addKinematicPoint(positionAndVelocityPoint2);