private void setupTrack(boolean runMultiThreaded, DRCRobotModel robotModel) {
DRCGuiInitialSetup guiInitialSetup =
new DRCGuiInitialSetup(true, false, simulationTestingParameters);
GroundProfile3D groundProfile = new FlatGroundProfile();
DRCSCSInitialSetup scsInitialSetup =
new DRCSCSInitialSetup(groundProfile, robotModel.getSimulateDT());
// scsInitialSetup.setInitializeEstimatorToActual(true);
scsInitialSetup.setDrawGroundProfile(true);
scsInitialSetup.setRunMultiThreaded(runMultiThreaded);
DRCRobotInitialSetup<HumanoidFloatingRootJointRobot> robotInitialSetup =
robotModel.getDefaultRobotInitialSetup(0.0, 0.0);
drcFlatGroundWalkingTrack =
new DRCFlatGroundWalkingTrack(
robotInitialSetup, guiInitialSetup, scsInitialSetup, true, false, robotModel);
drcFlatGroundWalkingTrack.getDrcSimulation();
}
