Fixing nubmodel calling in running controller (#983)

Beomyeong · web-flow · commit b2b8af646b30 · 2025-09-26T16:52:38.000-05:00
* Adding hasCycloidHands boolean getter

* Adding hasCycloidHands boolean getter
diff --git a/open-alexander/src/main/java/us/ihmc/openAlexander/AlexanderVersionInterface.java b/open-alexander/src/main/java/us/ihmc/openAlexander/AlexanderVersionInterface.java
@@ -18,6 +18,8 @@ public interface AlexanderVersionInterface extends RobotVersion
    AlexanderJointMap getJointMap();
 
    boolean hasNubHands(RobotSide side);
+   
+   boolean hasCycloidHands(RobotSide side);
 
    AlexanderSensorInformation getSensorInformation();
 
diff --git a/open-alexander/src/main/java/us/ihmc/openAlexander/OpenAlexanderVersion.java b/open-alexander/src/main/java/us/ihmc/openAlexander/OpenAlexanderVersion.java
@@ -164,6 +164,18 @@ public boolean hasNubHands(RobotSide side)
       }
    }
 
+   @Override
+   public boolean hasCycloidHands(RobotSide side)
+   {
+      switch (this)
+      {
+         case V1_FULL_ROBOT:
+            return true;
+         default:
+            return false;
+      }
+   }
+
    @Override
    public AlexanderSensorInformation getSensorInformation()
    {

Original file line number	Diff line number	Diff line change
`@@ -164,6 +164,18 @@ public boolean hasNubHands(RobotSide side)`
`164`	`164`	`}`
`165`	`165`	`}`
`166`	`166`
	`167`	`+ @Override`
	`168`	`+ public boolean hasCycloidHands(RobotSide side)`
	`169`	`+ {`
	`170`	`+ switch (this)`
	`171`	`+ {`
	`172`	`+ case V1_FULL_ROBOT:`
	`173`	`+ return true;`
	`174`	`+ default:`
	`175`	`+ return false;`
	`176`	`+ }`
	`177`	`+ }`
	`178`	`+`
`167`	`179`	`@Override`
`168`	`180`	`public AlexanderSensorInformation getSensorInformation()`
`169`	`181`	`{`