diff --git a/ihmc-avatar-interfaces/src/main/java/us/ihmc/avatar/drcRobot/CommunicationsSyncedRobotModel.java b/ihmc-avatar-interfaces/src/main/java/us/ihmc/avatar/drcRobot/CommunicationsSyncedRobotModel.java
index 8a666bd76f17..14fa2388c48d 100644
--- a/ihmc-avatar-interfaces/src/main/java/us/ihmc/avatar/drcRobot/CommunicationsSyncedRobotModel.java
+++ b/ihmc-avatar-interfaces/src/main/java/us/ihmc/avatar/drcRobot/CommunicationsSyncedRobotModel.java
@@ -13,7 +13,6 @@
 import us.ihmc.log.LogTools;
 import us.ihmc.mecano.multiBodySystem.interfaces.OneDoFJointBasics;
 import us.ihmc.robotModels.FullHumanoidRobotModel;
-import us.ihmc.robotModels.FullRobotModelUtils;
 import us.ihmc.robotics.partNames.HandJointName;
 import us.ihmc.robotics.robotSide.RobotSide;
 import us.ihmc.robotics.robotSide.SideDependentList;
@@ -53,7 +52,7 @@ public CommunicationsSyncedRobotModel(DRCRobotModel robotModel,
       this.handModels = handModels;
       robotConfigurationData = new RobotConfigurationData();
       referenceFrames = new HumanoidReferenceFrames(fullRobotModel, sensorInformation);
-      allJoints = FullRobotModelUtils.getAllJointsExcludingHands(fullRobotModel);
+      allJoints = fullRobotModel.getOneDoFJoints();
 
       if (handModels != null)
          HandModelUtils.getHandJoints(handModels, fullRobotModel, handJoints);
diff --git a/ihmc-sensor-processing/src/main/java/us/ihmc/sensorProcessing/communication/producers/RobotConfigurationDataPublisherFactory.java b/ihmc-sensor-processing/src/main/java/us/ihmc/sensorProcessing/communication/producers/RobotConfigurationDataPublisherFactory.java
index bf1cc081f805..23a3b47ad524 100644
--- a/ihmc-sensor-processing/src/main/java/us/ihmc/sensorProcessing/communication/producers/RobotConfigurationDataPublisherFactory.java
+++ b/ihmc-sensor-processing/src/main/java/us/ihmc/sensorProcessing/communication/producers/RobotConfigurationDataPublisherFactory.java
@@ -138,7 +138,7 @@ public void setSensorSource(SensorTimestampHolder sensorTimestampHolder,
     */
    public void setDefinitionsToPublish(FullHumanoidRobotModel fullHumanoidRobotModel)
    {
-      setDefinitionsToPublish(FullRobotModelUtils.getAllJointsExcludingHands(fullHumanoidRobotModel),
+      setDefinitionsToPublish(fullHumanoidRobotModel.getOneDoFJoints(),
                               fullHumanoidRobotModel.getForceSensorDefinitions(),
                               fullHumanoidRobotModel.getIMUDefinitions());
    }