From 16281e7066eeabf53d54e071fc29ac0d8af40270 Mon Sep 17 00:00:00 2001 From: Beomyeong Date: Tue, 9 Sep 2025 14:22:25 -0500 Subject: [PATCH 1/2] Adding hasCycloidHands boolean getter --- .../java/us/ihmc/openAlexander/AlexanderVersionInterface.java | 2 ++ 1 file changed, 2 insertions(+) diff --git a/open-alexander/src/main/java/us/ihmc/openAlexander/AlexanderVersionInterface.java b/open-alexander/src/main/java/us/ihmc/openAlexander/AlexanderVersionInterface.java index d110a3df8fce..543595170e86 100644 --- 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(); From 008358086b274355140f201562fe88186ef98937 Mon Sep 17 00:00:00 2001 From: Beomyeong Date: Tue, 9 Sep 2025 14:23:45 -0500 Subject: [PATCH 2/2] Adding hasCycloidHands boolean getter --- .../us/ihmc/openAlexander/OpenAlexanderVersion.java | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/open-alexander/src/main/java/us/ihmc/openAlexander/OpenAlexanderVersion.java b/open-alexander/src/main/java/us/ihmc/openAlexander/OpenAlexanderVersion.java index b9b3fa9b02fe..68a60af75902 100644 --- 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() {