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Include all URDF joints (hand joints) in RobotConfigurationData #1138

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Merged
calvertdw merged 3 commits into from
Dec 15, 2025
+2 −3
Merged

Include all URDF joints (hand joints) in RobotConfigurationData #1138

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6c0a63b
Cast to publish all joints.
calvertdw Dec 12, 2025
9f070ed
Expect all one DoF joints in RCD.
Dec 12, 2025
a505438
Try something simpler.
calvertdw Dec 12, 2025
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3 changes: 1 addition & 2 deletions ...atar-interfaces/src/main/java/us/ihmc/avatar/drcRobot/CommunicationsSyncedRobotModel.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down Expand Up @@ -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);
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2 changes: 1 addition & 1 deletion ...ihmc/sensorProcessing/communication/producers/RobotConfigurationDataPublisherFactory.java
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Expand Up @@ -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());
}
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