Switched to using ihmc-alex-sdk (#1133)

* Switched to using ihmc-alex-sdk

* Switch to ihmc-alex-sdk 0.3.6

---------

Co-authored-by: Alexander OCU <rosie@ihmc.org>

Author: reesep5

open-alexander/build.gradle.kts

@@ -12,7 +12,7 @@ ihmc {
 }
 
 mainDependencies {
-   api("us.ihmc:ihmc-alexander-sdk:0.3.5")
+   api("us.ihmc:ihmc-alex-sdk:0.3.6")
    api("us.ihmc:ihmc-avatar-interfaces-visualizers:source")
    api("us.ihmc:ihmc-model-file-loader:source")
    api("us.ihmc:ihmc-manipulation-planning:source")

open-alexander/src/main/java/us/ihmc/openAlexander/OpenAlexanderVersion.java

@@ -21,7 +21,7 @@ public enum OpenAlexanderVersion implements AlexanderVersionInterface
                     OpenAlexanderURDFParameters.URDF_RIGHT_ARM_NUB_FOREARM),
       null), V1_LEGS_ROBOT(OpenAlexanderVersion.V1_RESOURCE_DIRECTORY, Arrays.asList(OpenAlexanderURDFParameters.URDF_LOWER_BODY_ONLY), null);
 
-   private static final String V1_RESOURCE_DIRECTORY = "alexander_V1_description/";
+   private static final String V1_RESOURCE_DIRECTORY = "alex_V1_description/";
 
    private final String robotModelResourceDirectory;
 

open-alexander/src/main/java/us/ihmc/openAlexander/parameters/model/OpenAlexanderURDFParameters.java

@@ -19,21 +19,21 @@
  */
 public class OpenAlexanderURDFParameters implements HumanoidURDFParameterInterface
 {
-   public static final String URDF_MODEL_NAME = "Alexander";
-   private static final String[] RESOURCE_DIRECTORIES = new String[] {"alexander_V1_description/",
-                                                                      "alexander_V1_description/urdf/",
-                                                                      "alexander_V1_description/meshes/"};
+   public static final String URDF_MODEL_NAME = "Alex";
+   private static final String[] RESOURCE_DIRECTORIES = new String[] {"alex_V1_description/",
+                                                                      "alex_V1_description/urdf/",
+                                                                      "alex_V1_description/meshes/"};
 
-   private static final String[] LOGGED_RESOURCES = {"alexander_V1_description/"};
+   private static final String[] LOGGED_RESOURCES = {"alex_V1_description/"};
 
-   public static final String URDF_FULL_BODY = "alexander_v1.fullBody.urdf";
-   public static final String URDF_LOWER_BODY = "alexander_v1.lowerBody.urdf";
-   public static final String URDF_HEAD = "alexander_v1.head.urdf";
+   public static final String URDF_FULL_BODY = "alex_v1.fullBody.urdf";
+   public static final String URDF_LOWER_BODY = "alex_v1.lowerBody.urdf";
+   public static final String URDF_HEAD = "alex_v1.head.urdf";
 
-   public static final String URDF_LOWER_BODY_ONLY = "alexander_v1.lowerBodyOnly.urdf";
+   public static final String URDF_LOWER_BODY_ONLY = "alex_v1.lowerBodyOnly.urdf";
 
-   public static final String URDF_LEFT_ARM_NUB_FOREARM = "alexander_v0.leftArmFixedForearm.urdf";
-   public static final String URDF_RIGHT_ARM_NUB_FOREARM = "alexander_v0.rightArmFixedForearm.urdf";
+   public static final String URDF_LEFT_ARM_NUB_FOREARM = "alex_v0.leftArmFixedForearm.urdf";
+   public static final String URDF_RIGHT_ARM_NUB_FOREARM = "alex_v0.rightArmFixedForearm.urdf";
 
    private final String[] robotModelResourceDirectory = new String[1];
    private final String[] urdfResourceDirectories;