⬆️ euclid 0.22.0 ⬆️ ihmc-commons 0.33.0 :arrow-up: ihmc-yovaraibles 0…

….13.1. Revised the packages of robot tools
ihmcrobotics · Oct 28, 2024 · 433ef58 · 433ef58
1 parent 7231025
commit 433ef58
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Showing 72 changed files with 207 additions and 208 deletions.
diff --git a/build.gradle.kts b/build.gradle.kts
@@ -30,11 +30,11 @@ mainDependencies {
    api("us.ihmc:jinput:2.0.6-ihmc2")
    api("us.ihmc:ihmc-lord-microstrain-drivers:17-0.0.7")
 
-   api("us.ihmc:euclid:0.21.0")
-   api("us.ihmc:euclid-geometry:0.21.0")
-   api("us.ihmc:euclid-frame:0.21.0")
-   api("us.ihmc:euclid-shape:0.21.0")
-   api("us.ihmc:euclid-frame-shape:0.21.0")
+   api("us.ihmc:euclid:0.22.0")
+   api("us.ihmc:euclid-geometry:0.22.0")
+   api("us.ihmc:euclid-frame:0.22.0")
+   api("us.ihmc:euclid-shape:0.22.0")
+   api("us.ihmc:euclid-frame-shape:0.22.0")
    api("us.ihmc:ihmc-realtime:1.6.0")
    api("us.ihmc:ihmc-ros-control:0.7.1")
 
@@ -53,11 +53,11 @@ mainDependencies {
 }
 
 testDependencies {
-   api("us.ihmc:euclid:0.21.0")
-   api("us.ihmc:euclid-geometry:0.21.0")
-   api("us.ihmc:euclid-frame:0.21.0")
-   api("us.ihmc:euclid-shape:0.21.0")
-   api("us.ihmc:euclid-frame-shape:0.21.0")
+   api("us.ihmc:euclid:0.22.0")
+   api("us.ihmc:euclid-geometry:0.22.0")
+   api("us.ihmc:euclid-frame:0.22.0")
+   api("us.ihmc:euclid-shape:0.22.0")
+   api("us.ihmc:euclid-frame-shape:0.22.0")
 
    api("us.ihmc:ihmc-avatar-interfaces-test:$ihmcOpenRoboticsSoftwareVersion") {
       exclude(group = "us.ihmc", module = "javacpp")

diff --git a/src/main/java/us/ihmc/valkyrie/ValkyrieArmMassSimCollisionModel.java b/src/main/java/us/ihmc/valkyrie/ValkyrieArmMassSimCollisionModel.java
@@ -14,13 +14,13 @@
 import us.ihmc.mecano.multiBodySystem.interfaces.MultiBodySystemBasics;
 import us.ihmc.mecano.multiBodySystem.interfaces.RigidBodyBasics;
 import us.ihmc.robotics.geometry.shapes.FrameSTPBox3D;
-import us.ihmc.commons.robotics.partNames.ArmJointName;
+import us.ihmc.robotics.partNames.ArmJointName;
 import us.ihmc.robotics.partNames.HumanoidJointNameMap;
-import us.ihmc.commons.robotics.partNames.LegJointName;
+import us.ihmc.robotics.partNames.LegJointName;
 import us.ihmc.robotics.physics.Collidable;
 import us.ihmc.robotics.physics.CollidableHelper;
 import us.ihmc.robotics.physics.RobotCollisionModel;
-import us.ihmc.commons.robotics.robotSide.RobotSide;
+import us.ihmc.robotics.robotSide.RobotSide;
 import us.ihmc.wholeBodyController.RobotContactPointParameters;
 
 import java.util.ArrayList;

diff --git a/src/main/java/us/ihmc/valkyrie/ValkyrieCalibrationParameters.java b/src/main/java/us/ihmc/valkyrie/ValkyrieCalibrationParameters.java
@@ -3,11 +3,11 @@
 import java.util.HashMap;
 
 import us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.highLevelStates.WholeBodySetpointParameters;
-import us.ihmc.commons.robotics.partNames.ArmJointName;
-import us.ihmc.commons.robotics.partNames.LegJointName;
-import us.ihmc.commons.robotics.partNames.NeckJointName;
-import us.ihmc.commons.robotics.partNames.SpineJointName;
-import us.ihmc.commons.robotics.robotSide.RobotSide;
+import us.ihmc.robotics.partNames.ArmJointName;
+import us.ihmc.robotics.partNames.LegJointName;
+import us.ihmc.robotics.partNames.NeckJointName;
+import us.ihmc.robotics.partNames.SpineJointName;
+import us.ihmc.robotics.robotSide.RobotSide;
 import us.ihmc.valkyrie.parameters.ValkyrieJointMap;
 
 public class ValkyrieCalibrationParameters implements WholeBodySetpointParameters

diff --git a/src/main/java/us/ihmc/valkyrie/ValkyrieCollisionMeshDefinitionDataHolder.java b/src/main/java/us/ihmc/valkyrie/ValkyrieCollisionMeshDefinitionDataHolder.java
@@ -1,11 +1,11 @@
 package us.ihmc.valkyrie;
 
 import us.ihmc.euclid.transform.RigidBodyTransform;
-import us.ihmc.commons.robotics.partNames.LegJointName;
+import us.ihmc.robotics.partNames.LegJointName;
 import us.ihmc.robotics.robotDescription.collisionMeshDefinitionData.BoxCollisionMeshDefinitionData;
 import us.ihmc.robotics.robotDescription.collisionMeshDefinitionData.CollisionMeshDefinitionData;
 import us.ihmc.robotics.robotDescription.collisionMeshDefinitionData.CollisionMeshDefinitionDataHolder;
-import us.ihmc.commons.robotics.robotSide.RobotSide;
+import us.ihmc.robotics.robotSide.RobotSide;
 import us.ihmc.valkyrie.parameters.ValkyrieJointMap;
 import us.ihmc.valkyrie.parameters.ValkyriePhysicalProperties;
 

diff --git a/src/main/java/us/ihmc/valkyrie/ValkyrieFootstepPlannerCollisionModel.java b/src/main/java/us/ihmc/valkyrie/ValkyrieFootstepPlannerCollisionModel.java
@@ -10,14 +10,14 @@
 import us.ihmc.mecano.multiBodySystem.interfaces.JointBasics;
 import us.ihmc.mecano.multiBodySystem.interfaces.MultiBodySystemBasics;
 import us.ihmc.mecano.multiBodySystem.interfaces.RigidBodyBasics;
-import us.ihmc.commons.robotics.partNames.ArmJointName;
+import us.ihmc.robotics.partNames.ArmJointName;
 import us.ihmc.robotics.partNames.HumanoidJointNameMap;
-import us.ihmc.commons.robotics.partNames.LegJointName;
+import us.ihmc.robotics.partNames.LegJointName;
 import us.ihmc.robotics.physics.Collidable;
 import us.ihmc.robotics.physics.CollidableHelper;
 import us.ihmc.robotics.physics.RobotCollisionModel;
-import us.ihmc.commons.robotics.robotSide.RobotSide;
-import us.ihmc.commons.robotics.robotSide.SideDependentList;
+import us.ihmc.robotics.robotSide.RobotSide;
+import us.ihmc.robotics.robotSide.SideDependentList;
 import us.ihmc.simulationToolkit.physicsEngine.ExperimentalSimulation;
 
 import java.util.ArrayList;

diff --git a/src/main/java/us/ihmc/valkyrie/ValkyrieHighLevelControllerParameters.java b/src/main/java/us/ihmc/valkyrie/ValkyrieHighLevelControllerParameters.java
@@ -11,14 +11,14 @@
 import us.ihmc.commonWalkingControlModules.controllerCore.parameters.JointAccelerationIntegrationParametersReadOnly;
 import us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.highLevelStates.WholeBodySetpointParameters;
 import us.ihmc.humanoidRobotics.communication.packets.dataobjects.HighLevelControllerName;
-import us.ihmc.commons.robotics.partNames.ArmJointName;
-import us.ihmc.commons.robotics.partNames.LegJointName;
-import us.ihmc.commons.robotics.partNames.NeckJointName;
-import us.ihmc.commons.robotics.partNames.SpineJointName;
-import us.ihmc.commons.robotics.robotSide.RobotSide;
+import us.ihmc.robotics.partNames.ArmJointName;
+import us.ihmc.robotics.partNames.LegJointName;
+import us.ihmc.robotics.partNames.NeckJointName;
+import us.ihmc.robotics.partNames.SpineJointName;
+import us.ihmc.robotics.robotSide.RobotSide;
 import us.ihmc.sensorProcessing.outputData.JointDesiredBehavior;
 import us.ihmc.sensorProcessing.outputData.JointDesiredBehaviorReadOnly;
-import us.ihmc.commons.robotics.outputData.JointDesiredControlMode;
+import us.ihmc.robotics.outputData.JointDesiredControlMode;
 import us.ihmc.valkyrie.parameters.ValkyrieJointMap;
 import us.ihmc.robotics.partNames.HumanoidJointNameMap;
 import us.ihmc.yoVariables.filters.AlphaFilterTools;

diff --git a/src/main/java/us/ihmc/valkyrie/ValkyrieInitialSetup.java b/src/main/java/us/ihmc/valkyrie/ValkyrieInitialSetup.java
@@ -1,10 +1,10 @@
 package us.ihmc.valkyrie;
 
 import us.ihmc.avatar.initialSetup.HumanoidRobotInitialSetup;
-import us.ihmc.commons.robotics.partNames.ArmJointName;
+import us.ihmc.robotics.partNames.ArmJointName;
 import us.ihmc.robotics.partNames.HumanoidJointNameMap;
-import us.ihmc.commons.robotics.partNames.LegJointName;
-import us.ihmc.commons.robotics.robotSide.RobotSide;
+import us.ihmc.robotics.partNames.LegJointName;
+import us.ihmc.robotics.robotSide.RobotSide;
 import us.ihmc.scs2.definition.robot.RobotDefinition;
 
 public class ValkyrieInitialSetup extends HumanoidRobotInitialSetup

diff --git a/src/main/java/us/ihmc/valkyrie/ValkyrieInitialSetupFactories.java b/src/main/java/us/ihmc/valkyrie/ValkyrieInitialSetupFactories.java
@@ -1,8 +1,8 @@
 package us.ihmc.valkyrie;
 
-import us.ihmc.commons.robotics.partNames.ArmJointName;
-import us.ihmc.commons.robotics.partNames.LegJointName;
-import us.ihmc.commons.robotics.robotSide.RobotSide;
+import us.ihmc.robotics.partNames.ArmJointName;
+import us.ihmc.robotics.partNames.LegJointName;
+import us.ihmc.robotics.robotSide.RobotSide;
 import us.ihmc.robotics.partNames.HumanoidJointNameMap;
 
 public class ValkyrieInitialSetupFactories

diff --git a/src/main/java/us/ihmc/valkyrie/ValkyrieKinematicsCollisionModel.java b/src/main/java/us/ihmc/valkyrie/ValkyrieKinematicsCollisionModel.java
@@ -11,14 +11,14 @@
 import us.ihmc.mecano.multiBodySystem.interfaces.JointBasics;
 import us.ihmc.mecano.multiBodySystem.interfaces.MultiBodySystemBasics;
 import us.ihmc.mecano.multiBodySystem.interfaces.RigidBodyBasics;
-import us.ihmc.commons.robotics.partNames.ArmJointName;
+import us.ihmc.robotics.partNames.ArmJointName;
 import us.ihmc.robotics.partNames.HumanoidJointNameMap;
-import us.ihmc.commons.robotics.partNames.LegJointName;
+import us.ihmc.robotics.partNames.LegJointName;
 import us.ihmc.robotics.physics.Collidable;
 import us.ihmc.robotics.physics.CollidableHelper;
 import us.ihmc.robotics.physics.RobotCollisionModel;
-import us.ihmc.commons.robotics.robotSide.RobotSide;
-import us.ihmc.commons.robotics.robotSide.SideDependentList;
+import us.ihmc.robotics.robotSide.RobotSide;
+import us.ihmc.robotics.robotSide.SideDependentList;
 
 public class ValkyrieKinematicsCollisionModel implements RobotCollisionModel
 {

diff --git a/src/main/java/us/ihmc/valkyrie/ValkyrieKinematicsStreamingToolboxModule.java b/src/main/java/us/ihmc/valkyrie/ValkyrieKinematicsStreamingToolboxModule.java
@@ -13,10 +13,10 @@
 import us.ihmc.pubsub.DomainFactory.PubSubImplementation;
 import us.ihmc.robotDataLogger.logger.DataServerSettings;
 import us.ihmc.robotModels.FullHumanoidRobotModel;
-import us.ihmc.commons.robotics.partNames.ArmJointName;
-import us.ihmc.commons.robotics.partNames.LegJointName;
-import us.ihmc.commons.robotics.partNames.SpineJointName;
-import us.ihmc.commons.robotics.robotSide.RobotSide;
+import us.ihmc.robotics.partNames.ArmJointName;
+import us.ihmc.robotics.partNames.LegJointName;
+import us.ihmc.robotics.partNames.SpineJointName;
+import us.ihmc.robotics.robotSide.RobotSide;
 import us.ihmc.scs2.definition.robot.OneDoFJointDefinition;
 import us.ihmc.simulationConstructionSetTools.util.HumanoidFloatingRootJointRobot;
 import us.ihmc.valkyrie.ValkyrieNetworkProcessor.NetworkProcessorVersion;

diff --git a/src/main/java/us/ihmc/valkyrie/ValkyrieMutableInitialSetup.java b/src/main/java/us/ihmc/valkyrie/ValkyrieMutableInitialSetup.java
@@ -1,11 +1,11 @@
 package us.ihmc.valkyrie;
 
 import us.ihmc.avatar.initialSetup.HumanoidRobotInitialSetup;
-import us.ihmc.commons.robotics.partNames.ArmJointName;
+import us.ihmc.robotics.partNames.ArmJointName;
 import us.ihmc.robotics.partNames.HumanoidJointNameMap;
-import us.ihmc.commons.robotics.partNames.LegJointName;
-import us.ihmc.commons.robotics.partNames.SpineJointName;
-import us.ihmc.commons.robotics.robotSide.RobotSide;
+import us.ihmc.robotics.partNames.LegJointName;
+import us.ihmc.robotics.partNames.SpineJointName;
+import us.ihmc.robotics.robotSide.RobotSide;
 
 public class ValkyrieMutableInitialSetup extends HumanoidRobotInitialSetup
 {

diff --git a/src/main/java/us/ihmc/valkyrie/ValkyriePlanarRegionsSimulation.java b/src/main/java/us/ihmc/valkyrie/ValkyriePlanarRegionsSimulation.java
@@ -3,7 +3,7 @@
 import us.ihmc.avatar.AvatarPlanarRegionsSimulation;
 import us.ihmc.avatar.drcRobot.RobotTarget;
 import us.ihmc.pathPlanning.DataSetName;
-import us.ihmc.commons.robotics.robotSide.RobotSide;
+import us.ihmc.robotics.robotSide.RobotSide;
 import us.ihmc.wholeBodyController.AdditionalSimulationContactPoints;
 import us.ihmc.wholeBodyController.FootContactPoints;
 

diff --git a/src/main/java/us/ihmc/valkyrie/ValkyrieRobotModel.java b/src/main/java/us/ihmc/valkyrie/ValkyrieRobotModel.java
@@ -34,7 +34,7 @@
 import us.ihmc.robotModels.FullHumanoidRobotModelWrapper;
 import us.ihmc.robotics.physics.CollidableHelper;
 import us.ihmc.robotics.physics.RobotCollisionModel;
-import us.ihmc.commons.robotics.robotSide.RobotSide;
+import us.ihmc.robotics.robotSide.RobotSide;
 import us.ihmc.ros2.ROS2NodeInterface;
 import us.ihmc.ros2.RealtimeROS2Node;
 import us.ihmc.scs2.definition.robot.RobotDefinition;

diff --git a/src/main/java/us/ihmc/valkyrie/ValkyrieSimulationCollisionModel.java b/src/main/java/us/ihmc/valkyrie/ValkyrieSimulationCollisionModel.java
@@ -14,12 +14,12 @@
 import us.ihmc.mecano.multiBodySystem.interfaces.MultiBodySystemBasics;
 import us.ihmc.mecano.multiBodySystem.interfaces.RigidBodyBasics;
 import us.ihmc.robotics.geometry.shapes.FrameSTPBox3D;
-import us.ihmc.commons.robotics.partNames.ArmJointName;
-import us.ihmc.commons.robotics.partNames.LegJointName;
+import us.ihmc.robotics.partNames.ArmJointName;
+import us.ihmc.robotics.partNames.LegJointName;
 import us.ihmc.robotics.physics.Collidable;
 import us.ihmc.robotics.physics.CollidableHelper;
 import us.ihmc.robotics.physics.RobotCollisionModel;
-import us.ihmc.commons.robotics.robotSide.RobotSide;
+import us.ihmc.robotics.robotSide.RobotSide;
 import us.ihmc.simulationToolkit.physicsEngine.ExperimentalSimulation;
 import us.ihmc.robotics.partNames.HumanoidJointNameMap;
 

diff --git a/src/main/java/us/ihmc/valkyrie/ValkyrieStandPrepSetpoints.java b/src/main/java/us/ihmc/valkyrie/ValkyrieStandPrepSetpoints.java
@@ -3,11 +3,11 @@
 import java.util.HashMap;
 
 import us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.highLevelStates.WholeBodySetpointParameters;
-import us.ihmc.commons.robotics.partNames.ArmJointName;
-import us.ihmc.commons.robotics.partNames.LegJointName;
-import us.ihmc.commons.robotics.partNames.NeckJointName;
-import us.ihmc.commons.robotics.partNames.SpineJointName;
-import us.ihmc.commons.robotics.robotSide.RobotSide;
+import us.ihmc.robotics.partNames.ArmJointName;
+import us.ihmc.robotics.partNames.LegJointName;
+import us.ihmc.robotics.partNames.NeckJointName;
+import us.ihmc.robotics.partNames.SpineJointName;
+import us.ihmc.robotics.robotSide.RobotSide;
 import us.ihmc.valkyrie.parameters.ValkyrieJointMap;
 
 public class ValkyrieStandPrepSetpoints implements WholeBodySetpointParameters

diff --git a/src/main/java/us/ihmc/valkyrie/ValkyrieWalkingPositionControlParameters.java b/src/main/java/us/ihmc/valkyrie/ValkyrieWalkingPositionControlParameters.java
@@ -5,10 +5,10 @@
 
 import us.ihmc.avatar.drcRobot.RobotTarget;
 import us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.highLevelStates.PositionControlParameters;
-import us.ihmc.commons.robotics.partNames.ArmJointName;
-import us.ihmc.commons.robotics.partNames.LegJointName;
-import us.ihmc.commons.robotics.partNames.SpineJointName;
-import us.ihmc.commons.robotics.robotSide.RobotSide;
+import us.ihmc.robotics.partNames.ArmJointName;
+import us.ihmc.robotics.partNames.LegJointName;
+import us.ihmc.robotics.partNames.SpineJointName;
+import us.ihmc.robotics.robotSide.RobotSide;
 import us.ihmc.valkyrie.parameters.ValkyrieJointMap;
 import us.ihmc.valkyrie.parameters.ValkyrieOrderedJointMap;
 

diff --git a/src/main/java/us/ihmc/valkyrie/configuration/ValkyrieSliderBoardControlledNeckJoints.java b/src/main/java/us/ihmc/valkyrie/configuration/ValkyrieSliderBoardControlledNeckJoints.java
@@ -1,6 +1,6 @@
 package us.ihmc.valkyrie.configuration;
 
-import us.ihmc.commons.robotics.partNames.NeckJointName;
+import us.ihmc.robotics.partNames.NeckJointName;
 
 public abstract class ValkyrieSliderBoardControlledNeckJoints
 {  

diff --git a/src/main/java/us/ihmc/valkyrie/diagnostic/ValkyrieDiagnosticParameters.java b/src/main/java/us/ihmc/valkyrie/diagnostic/ValkyrieDiagnosticParameters.java
@@ -1,6 +1,6 @@
 package us.ihmc.valkyrie.diagnostic;
 
-import static us.ihmc.commons.robotics.outputData.JointDesiredControlMode.POSITION;
+import static us.ihmc.robotics.outputData.JointDesiredControlMode.POSITION;
 import static us.ihmc.valkyrie.ValkyrieHighLevelControllerParameters.configureBehavior;
 import static us.ihmc.valkyrie.ValkyrieHighLevelControllerParameters.configureSymmetricBehavior;
 import static us.ihmc.valkyrie.ValkyrieHighLevelControllerParameters.getLeftAndRightJointNames;
@@ -11,12 +11,12 @@
 
 import us.ihmc.commonWalkingControlModules.configurations.GroupParameter;
 import us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.highLevelStates.WholeBodySetpointParameters;
-import us.ihmc.commons.robotics.partNames.ArmJointName;
+import us.ihmc.robotics.partNames.ArmJointName;
 import us.ihmc.robotics.partNames.HumanoidJointNameMap;
-import us.ihmc.commons.robotics.partNames.LegJointName;
-import us.ihmc.commons.robotics.partNames.NeckJointName;
-import us.ihmc.commons.robotics.partNames.SpineJointName;
-import us.ihmc.commons.robotics.robotSide.RobotSide;
+import us.ihmc.robotics.partNames.LegJointName;
+import us.ihmc.robotics.partNames.NeckJointName;
+import us.ihmc.robotics.partNames.SpineJointName;
+import us.ihmc.robotics.robotSide.RobotSide;
 import us.ihmc.sensorProcessing.outputData.JointDesiredBehaviorReadOnly;
 import us.ihmc.sensorProcessing.parameters.HumanoidRobotSensorInformation;
 import us.ihmc.valkyrie.parameters.ValkyrieJointMap;

diff --git a/src/main/java/us/ihmc/valkyrie/diagnostic/ValkyrieDiagnosticSetpoints.java b/src/main/java/us/ihmc/valkyrie/diagnostic/ValkyrieDiagnosticSetpoints.java
@@ -3,11 +3,11 @@
 import java.util.HashMap;
 
 import us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.highLevelStates.WholeBodySetpointParameters;
-import us.ihmc.commons.robotics.partNames.ArmJointName;
-import us.ihmc.commons.robotics.partNames.LegJointName;
-import us.ihmc.commons.robotics.partNames.NeckJointName;
-import us.ihmc.commons.robotics.partNames.SpineJointName;
-import us.ihmc.commons.robotics.robotSide.RobotSide;
+import us.ihmc.robotics.partNames.ArmJointName;
+import us.ihmc.robotics.partNames.LegJointName;
+import us.ihmc.robotics.partNames.NeckJointName;
+import us.ihmc.robotics.partNames.SpineJointName;
+import us.ihmc.robotics.robotSide.RobotSide;
 import us.ihmc.valkyrie.parameters.ValkyrieJointMap;
 
 public class ValkyrieDiagnosticSetpoints implements WholeBodySetpointParameters

diff --git a/src/main/java/us/ihmc/valkyrie/fingers/SimulatedValkyrieFingerControlThread.java b/src/main/java/us/ihmc/valkyrie/fingers/SimulatedValkyrieFingerControlThread.java
@@ -9,7 +9,7 @@
 import us.ihmc.mecano.multiBodySystem.interfaces.OneDoFJointBasics;
 import us.ihmc.mecano.multiBodySystem.iterators.SubtreeStreams;
 import us.ihmc.robotModels.FullHumanoidRobotModel;
-import us.ihmc.commons.robotics.robotSide.RobotSide;
+import us.ihmc.robotics.robotSide.RobotSide;
 import us.ihmc.ros2.ROS2Topic;
 import us.ihmc.ros2.RealtimeROS2Node;
 import us.ihmc.yoVariables.registry.YoRegistry;

diff --git a/src/main/java/us/ihmc/valkyrie/fingers/SimulatedValkyrieFingerController.java b/src/main/java/us/ihmc/valkyrie/fingers/SimulatedValkyrieFingerController.java
@@ -14,14 +14,14 @@
 import us.ihmc.idl.IDLSequence.Object;
 import us.ihmc.mecano.multiBodySystem.interfaces.OneDoFJointBasics;
 import us.ihmc.robotModels.FullRobotModel;
-import us.ihmc.commons.robotics.partNames.FingerName;
-import us.ihmc.commons.robotics.robotSide.RobotSide;
-import us.ihmc.commons.robotics.robotSide.SideDependentList;
+import us.ihmc.robotics.partNames.FingerName;
+import us.ihmc.robotics.robotSide.RobotSide;
+import us.ihmc.robotics.robotSide.SideDependentList;
 import us.ihmc.ros2.ROS2Topic;
 import us.ihmc.ros2.RealtimeROS2Node;
-import us.ihmc.commons.robotics.outputData.JointDesiredControlMode;
-import us.ihmc.commons.robotics.outputData.JointDesiredOutputBasics;
-import us.ihmc.commons.robotics.outputData.JointDesiredOutputListBasics;
+import us.ihmc.robotics.outputData.JointDesiredControlMode;
+import us.ihmc.robotics.outputData.JointDesiredOutputBasics;
+import us.ihmc.robotics.outputData.JointDesiredOutputListBasics;
 import us.ihmc.simulationconstructionset.util.RobotController;
 import us.ihmc.yoVariables.providers.DoubleProvider;
 import us.ihmc.yoVariables.registry.YoRegistry;

diff --git a/src/main/java/us/ihmc/valkyrie/fingers/SimulatedValkyrieFingerJointAngleProducer.java b/src/main/java/us/ihmc/valkyrie/fingers/SimulatedValkyrieFingerJointAngleProducer.java
@@ -8,8 +8,8 @@
 import us.ihmc.ros2.ROS2PublisherBasics;
 import us.ihmc.mecano.multiBodySystem.interfaces.OneDoFJointBasics;
 import us.ihmc.robotModels.FullRobotModel;
-import us.ihmc.commons.robotics.robotSide.RobotSide;
-import us.ihmc.commons.robotics.robotSide.SideDependentList;
+import us.ihmc.robotics.robotSide.RobotSide;
+import us.ihmc.robotics.robotSide.SideDependentList;
 
 public class SimulatedValkyrieFingerJointAngleProducer
 {

diff --git a/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieFingerControlParameters.java b/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieFingerControlParameters.java
@@ -2,8 +2,8 @@
 
 import java.util.EnumMap;
 
-import us.ihmc.commons.robotics.robotSide.RobotSide;
-import us.ihmc.commons.robotics.robotSide.SideDependentList;
+import us.ihmc.robotics.robotSide.RobotSide;
+import us.ihmc.robotics.robotSide.SideDependentList;
 
 public class ValkyrieFingerControlParameters
 {

diff --git a/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieFingerController.java b/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieFingerController.java
@@ -13,8 +13,8 @@
 import us.ihmc.humanoidRobotics.communication.subscribers.ValkyrieHandFingerTrajectoryMessageSubscriber;
 import us.ihmc.robotics.controllers.pidGains.PIDGainsReadOnly;
 import us.ihmc.robotics.controllers.pidGains.implementations.YoPIDGains;
-import us.ihmc.commons.robotics.robotSide.RobotSide;
-import us.ihmc.commons.robotics.robotSide.SideDependentList;
+import us.ihmc.robotics.robotSide.RobotSide;
+import us.ihmc.robotics.robotSide.SideDependentList;
 import us.ihmc.ros2.RealtimeROS2Node;
 import us.ihmc.simulationconstructionset.util.RobotController;
 import us.ihmc.valkyrieRosControl.ValkyrieRosControlFingerStateEstimator;

diff --git a/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieFingerMotorName.java b/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieFingerMotorName.java
@@ -1,7 +1,7 @@
 package us.ihmc.valkyrie.fingers;
 
-import us.ihmc.commons.robotics.partNames.FingerName;
-import us.ihmc.commons.robotics.robotSide.RobotSide;
+import us.ihmc.robotics.partNames.FingerName;
+import us.ihmc.robotics.robotSide.RobotSide;
 
 public enum ValkyrieFingerMotorName
 {

diff --git a/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieFingerSetController.java b/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieFingerSetController.java
@@ -10,8 +10,8 @@
 import us.ihmc.idl.IDLSequence.Object;
 import us.ihmc.robotics.controllers.PIDController;
 import us.ihmc.robotics.controllers.pidGains.PIDGainsReadOnly;
-import us.ihmc.commons.robotics.partNames.FingerName;
-import us.ihmc.commons.robotics.robotSide.RobotSide;
+import us.ihmc.robotics.partNames.FingerName;
+import us.ihmc.robotics.robotSide.RobotSide;
 import us.ihmc.simulationconstructionset.util.RobotController;
 import us.ihmc.valkyrieRosControl.ValkyrieRosControlFingerStateEstimator;
 import us.ihmc.valkyrieRosControl.dataHolders.YoEffortJointHandleHolder;