Fix test.

Author: gwiedebach

Atlas/test/us/ihmc/atlas/ObstacleCourseTests/AtlasPelvisLowGainsTest.java

@@ -56,19 +56,6 @@ protected YoDouble getPelvisOrientationErrorVariableName(SimulationConstructionS
       return (YoDouble) scs.getVariable(FeedbackControllerToolbox.class.getSimpleName(), "pelvisErrorRotationVectorZ");
    }
 
-   @Override
-   public String getKpPelvisOrientationName()
-   {
-      return "kpXYAngularPelvisOrientation";
-   }
-
-   @Override
-   public String getZetaPelvisOrientationName()
-   {
-      return "zetaXYAngularPelvisOrientation";
-   }
-
-
    @Override
    public InverseDynamicsCalculatorListener getInverseDynamicsCalculatorListener(FullRobotModel controllersFullRobotModel, FloatingRootJointRobot robot)
    {

IHMCAvatarInterfaces/test/us/ihmc/avatar/obstacleCourseTests/DRCPelvisLowGainsTest.java

@@ -10,6 +10,7 @@
 import us.ihmc.avatar.MultiRobotTestInterface;
 import us.ihmc.avatar.drcRobot.DRCRobotModel;
 import us.ihmc.avatar.testTools.DRCSimulationTestHelper;
+import us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.factories.HighLevelControlManagerFactory;
 import us.ihmc.continuousIntegration.ContinuousIntegrationAnnotations.ContinuousIntegrationTest;
 import us.ihmc.euclid.geometry.BoundingBox3D;
 import us.ihmc.euclid.tuple3D.Point3D;
@@ -25,6 +26,7 @@
 import us.ihmc.simulationconstructionset.util.simulationTesting.SimulationTestingParameters;
 import us.ihmc.tools.MemoryTools;
 import us.ihmc.tools.thread.ThreadTools;
+import us.ihmc.yoVariables.variable.YoBoolean;
 import us.ihmc.yoVariables.variable.YoDouble;
 
 /**
@@ -109,8 +111,12 @@ public boolean isSimulationDone()
 
       simulationConstructionSet.setSimulateDoneCriterion(checkPelvisOrientationError);
 
-      YoDouble kpPelvisOrientation = (YoDouble) simulationConstructionSet.getVariable(getKpPelvisOrientationName());
-      YoDouble zetaPelvisOrientation = (YoDouble) simulationConstructionSet.getVariable(getZetaPelvisOrientationName());
+      String namespace = HighLevelControlManagerFactory.class.getSimpleName();
+      YoBoolean updatePelvisDampingFromRatio = (YoBoolean) simulationConstructionSet.getVariable(namespace, "UpdateFromDampingRatioPelvisOrientation");
+      updatePelvisDampingFromRatio.set(true);
+
+      YoDouble kpPelvisOrientation = (YoDouble) simulationConstructionSet.getVariable(namespace, "kpXYPelvisOrientation");
+      YoDouble zetaPelvisOrientation = (YoDouble) simulationConstructionSet.getVariable(namespace, "zetaXYPelvisOrientation");
 
       // kp = 20.0, zeta = 0.7 causes problems when running multithreaded. kp = 1.0, zeta = 0.7 causes problems when running single threaded.
       kpPelvisOrientation.set(1.0);
@@ -131,9 +137,6 @@ public boolean isSimulationDone()
       BambooTools.reportTestFinishedMessage(simulationTestingParameters.getShowWindows());
    }
 
-   public abstract String getZetaPelvisOrientationName();
-   public abstract String getKpPelvisOrientationName();
-
    private void setupCameraForElvisPelvis()
    {
       Point3D cameraFix = new Point3D(0.0, 0.0, 0.9);

Valkyrie/test/us/ihmc/valkyrie/simulation/ValkyriePelvisLowGainsTest.java

@@ -48,18 +48,6 @@ protected YoDouble getPelvisOrientationErrorVariableName(SimulationConstructionS
                                                 "v1PelvisOrientationErrorMagnitude");
    }
 
-   @Override
-   public String getKpPelvisOrientationName()
-   {
-      return "kpXYAngularPelvisOrientation";
-   }
-
-   @Override
-   public String getZetaPelvisOrientationName()
-   {
-      return "zetaXYAngularPelvisOrientation";
-   }
-
    @Override
    public InverseDynamicsCalculatorListener getInverseDynamicsCalculatorListener(FullRobotModel controllersFullRobotModel, FloatingRootJointRobot robot)
    {