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Fixing nubmodel calling in running controller #983

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Merged
merged 4 commits into from
Sep 26, 2025
Merged

Fixing nubmodel calling in running controller #983

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16281e7
Adding hasCycloidHands boolean getter
Beomyeong Sep 9, 2025
0083580
Adding hasCycloidHands boolean getter
Beomyeong Sep 9, 2025
717d373
Merge branch 'develop' into fixing-nubmodel-calling-in-runningController
Beomyeong Sep 22, 2025
e228470
Merge branch 'develop' into fixing-nubmodel-calling-in-runningController
Beomyeong Sep 26, 2025
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2 changes: 2 additions & 0 deletions open-alexander/src/main/java/us/ihmc/openAlexander/AlexanderVersionInterface.java
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,8 @@ public interface AlexanderVersionInterface extends RobotVersion
AlexanderJointMap getJointMap();

boolean hasNubHands(RobotSide side);

boolean hasCycloidHands(RobotSide side);

AlexanderSensorInformation getSensorInformation();

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12 changes: 12 additions & 0 deletions open-alexander/src/main/java/us/ihmc/openAlexander/OpenAlexanderVersion.java
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Expand Up @@ -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()
{
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