private void setupSliderBoardForForceControl(
      YoVariableRegistry registry,
      GeneralizedSDFRobotModel generalizedSDFRobotModel,
      final SliderBoardConfigurationManager sliderBoardConfigurationManager) {
    for (ValkyrieSliderBoardSelectableJoints jointId :
        ValkyrieSliderBoardSelectableJoints.values()) {
      String jointName = jointId.toString();
      if (!jointName.contains("Ibeo")) {
        String pdControllerBaseName = jointName + "ValkyrieJointPDController";

        // knobs

        sliderBoardConfigurationManager.setKnob(
            1, selectedJoint, 0, ValkyrieSliderBoardSelectableJoints.values().length - 1);

        // sliders
        sliderBoardConfigurationManager.setSlider(
            1,
            pdControllerBaseName + "_q_d",
            registry,
            generalizedSDFRobotModel.getJointHolder(jointName).getLowerLimit(),
            generalizedSDFRobotModel.getJointHolder(jointName).getUpperLimit());
        sliderBoardConfigurationManager.setSlider(
            2, "kp_" + pdControllerBaseName, registry, 0.0, 2000.0);
        sliderBoardConfigurationManager.setSlider(
            3, "kd_" + pdControllerBaseName, registry, 0.0, 600.0);

        sliderBoardConfigurationManager.saveConfiguration(jointId.toString());
      }
    }

    selectedJoint.addVariableChangedListener(
        new VariableChangedListener() {
          @Override
          public void variableChanged(YoVariable<?> v) {
            System.out.println("loading configuration " + selectedJoint.getEnumValue());
            sliderBoardConfigurationManager.loadConfiguration(
                selectedJoint.getEnumValue().toString());
          }
        });
  }
  private void setupSliderBoardForOnBoardPositionControl(
      YoVariableRegistry registry,
      GeneralizedSDFRobotModel generalizedSDFRobotModel,
      final SliderBoardConfigurationManager sliderBoardConfigurationManager) {
    for (ValkyrieSliderBoardSelectableJoints jointId :
        ValkyrieSliderBoardSelectableJoints.values()) {
      String jointName = jointId.toString();
      System.out.println(jointName);

      // knobs

      sliderBoardConfigurationManager.setKnob(
          1, selectedJoint, 0, ValkyrieSliderBoardSelectableJoints.values().length - 1);

      // sliders
      sliderBoardConfigurationManager.setSlider(
          1,
          jointName + CommonNames.q_d,
          registry,
          generalizedSDFRobotModel.getJointHolder(jointName).getLowerLimit(),
          generalizedSDFRobotModel.getJointHolder(jointName).getUpperLimit());
      sliderBoardConfigurationManager.setSlider(2, jointName + CommonNames.qd_d, registry, -9, 9);

      sliderBoardConfigurationManager.saveConfiguration(jointId.toString());
    }

    selectedJoint.addVariableChangedListener(
        new VariableChangedListener() {
          @Override
          public void variableChanged(YoVariable<?> v) {
            System.out.println("loading configuration " + selectedJoint.getEnumValue());
            sliderBoardConfigurationManager.loadConfiguration(
                selectedJoint.getEnumValue().toString());
          }
        });
  }