public SideDependentList<ArrayList<OneDoFJointBasics>> getArmJoints(FullHumanoidRobotModel fullRobotModel)
{
SideDependentList<ArrayList<OneDoFJointBasics>> ret = new SideDependentList<ArrayList<OneDoFJointBasics>>();
for (RobotSide robotSide : RobotSide.values)
{
ArrayList<OneDoFJointBasics> armJoints = new ArrayList<OneDoFJointBasics>();
addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.SHOULDER_PITCH));
addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.SHOULDER_ROLL));
addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.SHOULDER_YAW));
addIfNotNull(armJoints, fullRobotModel.getArmJoint(robotSide, ArmJointName.ELBOW_PITCH));
ret.set(robotSide, armJoints);
}
return ret;
}