From 433ef58279e54a03efb7e7e639280de441227b0f Mon Sep 17 00:00:00 2001 From: Robert Griffin Date: Sun, 27 Oct 2024 21:17:45 -0500 Subject: [PATCH] :arrow_up: euclid 0.22.0 :arrow_up: ihmc-commons 0.33.0 :arrow-up: ihmc-yovaraibles 0.13.1. Revised the packages of robot tools --- build.gradle.kts | 20 +++++----- .../ValkyrieArmMassSimCollisionModel.java | 6 +-- .../ValkyrieCalibrationParameters.java | 10 ++--- ...yrieCollisionMeshDefinitionDataHolder.java | 4 +- ...ValkyrieFootstepPlannerCollisionModel.java | 8 ++-- ...ValkyrieHighLevelControllerParameters.java | 12 +++--- .../ihmc/valkyrie/ValkyrieInitialSetup.java | 6 +-- .../ValkyrieInitialSetupFactories.java | 6 +-- .../ValkyrieKinematicsCollisionModel.java | 8 ++-- ...kyrieKinematicsStreamingToolboxModule.java | 8 ++-- .../valkyrie/ValkyrieMutableInitialSetup.java | 8 ++-- .../ValkyriePlanarRegionsSimulation.java | 2 +- .../us/ihmc/valkyrie/ValkyrieRobotModel.java | 2 +- .../ValkyrieSimulationCollisionModel.java | 6 +-- .../valkyrie/ValkyrieStandPrepSetpoints.java | 10 ++--- ...kyrieWalkingPositionControlParameters.java | 8 ++-- ...lkyrieSliderBoardControlledNeckJoints.java | 2 +- .../ValkyrieDiagnosticParameters.java | 12 +++--- .../ValkyrieDiagnosticSetpoints.java | 10 ++--- .../SimulatedValkyrieFingerControlThread.java | 2 +- .../SimulatedValkyrieFingerController.java | 12 +++--- ...latedValkyrieFingerJointAngleProducer.java | 4 +- .../ValkyrieFingerControlParameters.java | 4 +- .../fingers/ValkyrieFingerController.java | 4 +- .../fingers/ValkyrieFingerMotorName.java | 4 +- .../fingers/ValkyrieFingerSetController.java | 4 +- .../ValkyrieFingerSetTrajectoryGenerator.java | 8 ++-- ...kyrieFingerTrajectoryMessagePublisher.java | 2 +- ...HandFingerTrajectoryMessageConversion.java | 2 +- .../fingers/ValkyrieHandJointName.java | 4 +- .../ValkyrieHandStateCommunicator.java | 4 +- .../joystick/GraspingJavaFXController.java | 4 +- .../joystick/JavaFXArmController.java | 4 +- ...kyrieJoystickBasedSteppingApplication.java | 2 +- .../joystick/ValkyriePunchMessenger.java | 2 +- .../DiagnosticLogProcessorFunction.java | 10 ++--- .../network/ValkyrieMessageTools.java | 2 +- .../ValkyrieCollisionBoxProvider.java | 6 +-- .../ValkyrieContactPointParameters.java | 2 +- .../valkyrie/parameters/ValkyrieJointMap.java | 14 +++---- .../parameters/ValkyrieOrderedJointMap.java | 4 +- .../ValkyriePhysicalProperties.java | 4 +- .../parameters/ValkyrieSensorInformation.java | 4 +- .../ValkyrieStateEstimatorParameters.java | 8 ++-- .../parameters/ValkyrieUIAuxiliaryData.java | 2 +- .../ValkyrieWalkingControllerParameters.java | 10 ++--- .../ValkyrieWarmupPoseSequencePacket.java | 4 +- .../ValkyrieSimulationLowLevelController.java | 6 +-- ...ieSimulationLowLevelControllerFactory.java | 2 +- ...ieSimulationPositionControlParameters.java | 40 +++++++++---------- ...rieWholeBodyPositionControlSimulation.java | 6 +-- .../ValkyrieStepReachabilityCalculator.java | 4 +- ...TorqueHysteresisCompensatorYoVariable.java | 2 +- .../ValkyrieCalibrationControllerState.java | 12 +++--- .../ValkyrieRosControlController.java | 4 +- ...olEffortJointControlCommandCalculator.java | 2 +- ...alkyrieRosControlFingerStateEstimator.java | 4 +- .../ValkyrieRosControlLowLevelController.java | 2 +- ...ValkyrieRosControlSensorReaderFactory.java | 4 +- .../ValkyrieTorqueHysteresisCompensator.java | 2 +- ...ValkyrieAutomatedDiagnosticController.java | 10 ++--- .../YoEffortJointHandleHolder.java | 4 +- .../YoPositionJointHandleHolder.java | 2 +- ...eHandDesiredConfigurationBehaviorTest.java | 2 +- ...dToEndHandFingerTrajectoryMessageTest.java | 2 +- ...yrieEndToEndHandTrajectoryMessageTest.java | 2 +- .../ValkyrieContactPointProjectorTest.java | 2 +- ...alkingTrajectoryPathFrameEndToEndTest.java | 6 +-- .../ValkyrieRobotTransformOptimizerTest.java | 1 - ...lkyrieObstacleCourseTrialsTerrainTest.java | 2 +- .../ValkyrieEndToEndStairsTest.java | 2 +- ...rieExperimentalSimulationEndToEndTest.java | 6 +-- 72 files changed, 207 insertions(+), 208 deletions(-) diff --git a/build.gradle.kts b/build.gradle.kts index 83df0a3..3457d2a 100644 --- 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 index b198d48..9ee46dd 100644 --- 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 index 5e2ce8d..9c1d9fa 100644 --- 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 index 7cd5633..e4f25fc 100644 --- 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 index cbd7ba2..72d6fc8 100644 --- 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 index ae08466..0b6b550 100644 --- 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 index 82643f7..be7dcd5 100644 --- 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 index d7026b3..826ce65 100644 --- 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 index 9188a45..f4f885e 100644 --- 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 index b5172a3..7ee9c2b 100644 --- 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 index 5fb0da3..3abc85e 100644 --- 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 index 1d3273c..f59bc39 100644 --- 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 index f0d013c..50788e5 100644 --- 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 index bad5893..a2cf474 100644 --- 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 index 17db4d9..2974819 100644 --- 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 index f9a1a6a..8e0cf20 100644 --- 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 index 903becf..452a2e3 100644 --- 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 index 0d057d7..c009575 100644 --- 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 index 29119eb..35386e6 100644 --- 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 index bdd57fe..3f72bd7 100644 --- 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 index 9860bba..2d6edf7 100644 --- 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 index e89d44e..030548d 100644 --- 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 index 3f84d75..9eac25a 100644 --- 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 index 2c08024..7c6701c 100644 --- 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 index e0b4d77..8c829e9 100644 --- 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 index e638df5..c5a3c31 100644 --- 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; diff --git a/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieFingerSetTrajectoryGenerator.java b/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieFingerSetTrajectoryGenerator.java index 8eefe3a..2be9d31 100644 --- a/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieFingerSetTrajectoryGenerator.java +++ b/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieFingerSetTrajectoryGenerator.java @@ -7,10 +7,10 @@ import gnu.trove.list.array.TDoubleArrayList; import us.ihmc.robotics.math.trajectories.generators.MultipleWaypointsTrajectoryGenerator; import us.ihmc.robotics.math.trajectories.trajectorypoints.OneDoFTrajectoryPoint; -import us.ihmc.commons.robotics.robotSide.RobotSide; -import us.ihmc.commons.stateMachine.core.State; -import us.ihmc.commons.stateMachine.core.StateMachine; -import us.ihmc.commons.stateMachine.factories.StateMachineFactory; +import us.ihmc.robotics.robotSide.RobotSide; +import us.ihmc.robotics.stateMachine.core.State; +import us.ihmc.robotics.stateMachine.core.StateMachine; +import us.ihmc.robotics.stateMachine.factories.StateMachineFactory; import us.ihmc.robotics.trajectories.providers.SettableDoubleProvider; import us.ihmc.simulationconstructionset.util.RobotController; import us.ihmc.yoVariables.providers.DoubleProvider; diff --git a/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieFingerTrajectoryMessagePublisher.java b/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieFingerTrajectoryMessagePublisher.java index c60dc61..1a04ec8 100644 --- a/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieFingerTrajectoryMessagePublisher.java +++ b/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieFingerTrajectoryMessagePublisher.java @@ -4,7 +4,7 @@ import gnu.trove.list.array.TDoubleArrayList; import us.ihmc.avatar.handControl.HandFingerTrajectoryMessagePublisher; import us.ihmc.ros2.ROS2PublisherBasics; -import us.ihmc.commons.robotics.robotSide.RobotSide; +import us.ihmc.robotics.robotSide.RobotSide; import us.ihmc.ros2.ROS2Node; import us.ihmc.ros2.ROS2Topic; import us.ihmc.valkyrie.network.ValkyrieMessageTools; diff --git a/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieHandFingerTrajectoryMessageConversion.java b/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieHandFingerTrajectoryMessageConversion.java index 5661657..8f271b0 100644 --- a/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieHandFingerTrajectoryMessageConversion.java +++ b/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieHandFingerTrajectoryMessageConversion.java @@ -4,7 +4,7 @@ import controller_msgs.msg.dds.ValkyrieHandFingerTrajectoryMessage; import us.ihmc.humanoidRobotics.communication.packets.HumanoidMessageTools; import us.ihmc.humanoidRobotics.communication.packets.dataobjects.HandConfiguration; -import us.ihmc.commons.robotics.robotSide.RobotSide; +import us.ihmc.robotics.robotSide.RobotSide; /** * This class converts desired HandConfiguration into a ValkyrieHandFingerTrajectoryMessage. diff --git a/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieHandJointName.java b/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieHandJointName.java index 0de4850..05c3a0a 100644 --- a/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieHandJointName.java +++ b/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieHandJointName.java @@ -3,8 +3,8 @@ import us.ihmc.humanoidRobotics.communication.packets.dataobjects.HandJointName; import us.ihmc.mecano.multiBodySystem.RevoluteJoint; import us.ihmc.robotModels.FullRobotModel; -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.FloatingRootJointRobot; import us.ihmc.simulationconstructionset.PinJoint; diff --git a/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieHandStateCommunicator.java b/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieHandStateCommunicator.java index 57431eb..c1cb835 100644 --- a/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieHandStateCommunicator.java +++ b/src/main/java/us/ihmc/valkyrie/fingers/ValkyrieHandStateCommunicator.java @@ -8,8 +8,8 @@ import us.ihmc.humanoidRobotics.communication.packets.HumanoidMessageTools; import us.ihmc.mecano.multiBodySystem.interfaces.OneDoFJointBasics; import us.ihmc.robotModels.FullHumanoidRobotModel; -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.yoVariables.registry.YoRegistry; diff --git a/src/main/java/us/ihmc/valkyrie/joystick/GraspingJavaFXController.java b/src/main/java/us/ihmc/valkyrie/joystick/GraspingJavaFXController.java index 41b975e..17d269e 100644 --- a/src/main/java/us/ihmc/valkyrie/joystick/GraspingJavaFXController.java +++ b/src/main/java/us/ihmc/valkyrie/joystick/GraspingJavaFXController.java @@ -46,8 +46,8 @@ import us.ihmc.messager.javafx.JavaFXMessager; import us.ihmc.robotModels.FullHumanoidRobotModel; import us.ihmc.robotModels.FullHumanoidRobotModelFactory; -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.ROS2Node; import us.ihmc.ros2.ROS2Topic; diff --git a/src/main/java/us/ihmc/valkyrie/joystick/JavaFXArmController.java b/src/main/java/us/ihmc/valkyrie/joystick/JavaFXArmController.java index cff104c..f6849b6 100644 --- a/src/main/java/us/ihmc/valkyrie/joystick/JavaFXArmController.java +++ b/src/main/java/us/ihmc/valkyrie/joystick/JavaFXArmController.java @@ -41,8 +41,8 @@ import us.ihmc.messager.javafx.JavaFXMessager; import us.ihmc.robotModels.FullHumanoidRobotModel; import us.ihmc.robotModels.FullHumanoidRobotModelFactory; -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.ROS2Node; import us.ihmc.ros2.ROS2Topic; diff --git a/src/main/java/us/ihmc/valkyrie/joystick/ValkyrieJoystickBasedSteppingApplication.java b/src/main/java/us/ihmc/valkyrie/joystick/ValkyrieJoystickBasedSteppingApplication.java index baea868..7a9e44a 100644 --- a/src/main/java/us/ihmc/valkyrie/joystick/ValkyrieJoystickBasedSteppingApplication.java +++ b/src/main/java/us/ihmc/valkyrie/joystick/ValkyrieJoystickBasedSteppingApplication.java @@ -12,7 +12,7 @@ import us.ihmc.javaFXToolkit.ApplicationNoModule; import us.ihmc.log.LogTools; import us.ihmc.pubsub.DomainFactory.PubSubImplementation; -import us.ihmc.commons.robotics.robotSide.SideDependentList; +import us.ihmc.robotics.robotSide.SideDependentList; import us.ihmc.ros2.ROS2Node; import us.ihmc.valkyrie.ValkyrieRobotModel; import us.ihmc.valkyrieRosControl.ValkyrieRosControlController; diff --git a/src/main/java/us/ihmc/valkyrie/joystick/ValkyriePunchMessenger.java b/src/main/java/us/ihmc/valkyrie/joystick/ValkyriePunchMessenger.java index c6f6b2e..6a1cc83 100644 --- a/src/main/java/us/ihmc/valkyrie/joystick/ValkyriePunchMessenger.java +++ b/src/main/java/us/ihmc/valkyrie/joystick/ValkyriePunchMessenger.java @@ -10,7 +10,7 @@ import us.ihmc.communication.controllerAPI.RobotLowLevelMessenger; import us.ihmc.humanoidRobotics.communication.packets.HumanoidMessageTools; import us.ihmc.humanoidRobotics.communication.packets.dataobjects.HighLevelControllerName; -import us.ihmc.commons.robotics.robotSide.RobotSide; +import us.ihmc.robotics.robotSide.RobotSide; import us.ihmc.ros2.ROS2NodeInterface; import us.ihmc.ros2.ROS2Topic; diff --git a/src/main/java/us/ihmc/valkyrie/logProcessor/DiagnosticLogProcessorFunction.java b/src/main/java/us/ihmc/valkyrie/logProcessor/DiagnosticLogProcessorFunction.java index 7cb89ea..d25032c 100644 --- a/src/main/java/us/ihmc/valkyrie/logProcessor/DiagnosticLogProcessorFunction.java +++ b/src/main/java/us/ihmc/valkyrie/logProcessor/DiagnosticLogProcessorFunction.java @@ -11,11 +11,11 @@ import us.ihmc.mecano.multiBodySystem.interfaces.JointBasics; import us.ihmc.mecano.multiBodySystem.interfaces.OneDoFJointBasics; 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.commons.robotics.robotSide.SideDependentList; +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.robotics.robotSide.SideDependentList; import us.ihmc.yoVariables.registry.YoRegistry; import us.ihmc.yoVariables.variable.YoDouble; diff --git a/src/main/java/us/ihmc/valkyrie/network/ValkyrieMessageTools.java b/src/main/java/us/ihmc/valkyrie/network/ValkyrieMessageTools.java index 3d59282..bea5391 100644 --- a/src/main/java/us/ihmc/valkyrie/network/ValkyrieMessageTools.java +++ b/src/main/java/us/ihmc/valkyrie/network/ValkyrieMessageTools.java @@ -5,7 +5,7 @@ import us.ihmc.humanoidRobotics.communication.packets.HumanoidMessageTools; import us.ihmc.idl.IDLSequence.Object; import us.ihmc.robotics.math.trajectories.trajectorypoints.lists.OneDoFTrajectoryPointList; -import us.ihmc.commons.robotics.robotSide.RobotSide; +import us.ihmc.robotics.robotSide.RobotSide; import us.ihmc.valkyrie.fingers.ValkyrieFingerMotorName; public class ValkyrieMessageTools diff --git a/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieCollisionBoxProvider.java b/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieCollisionBoxProvider.java index a7a4a79..e628506 100644 --- a/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieCollisionBoxProvider.java +++ b/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieCollisionBoxProvider.java @@ -16,9 +16,9 @@ import us.ihmc.mecano.multiBodySystem.interfaces.OneDoFJointBasics; import us.ihmc.mecano.multiBodySystem.interfaces.RigidBodyBasics; import us.ihmc.robotModels.FullHumanoidRobotModel; -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; /** * There is no collision provided in Valkyrie's SDF/URDF models, so it is created and hardcoded here. diff --git a/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieContactPointParameters.java b/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieContactPointParameters.java index 662aeb1..9d7df57 100644 --- a/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieContactPointParameters.java +++ b/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieContactPointParameters.java @@ -2,7 +2,7 @@ import us.ihmc.euclid.tuple3D.Vector3D; import us.ihmc.robotics.partNames.HumanoidJointNameMap; -import us.ihmc.commons.robotics.robotSide.RobotSide; +import us.ihmc.robotics.robotSide.RobotSide; import us.ihmc.wholeBodyController.FootContactPoints; import us.ihmc.wholeBodyController.RobotContactPointParameters; diff --git a/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieJointMap.java b/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieJointMap.java index 83ddb9a..1698621 100644 --- a/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieJointMap.java +++ b/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieJointMap.java @@ -14,14 +14,14 @@ import us.ihmc.euclid.transform.RigidBodyTransform; import us.ihmc.robotics.controllers.pidGains.implementations.YoPDGains; -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.JointRole; -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.commons.robotics.robotSide.SideDependentList; +import us.ihmc.robotics.partNames.JointRole; +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.robotics.robotSide.SideDependentList; import us.ihmc.valkyrie.configuration.ValkyrieRobotVersion; import us.ihmc.yoVariables.registry.YoRegistry; diff --git a/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieOrderedJointMap.java b/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieOrderedJointMap.java index a62e163..a723faf 100644 --- a/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieOrderedJointMap.java +++ b/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieOrderedJointMap.java @@ -1,7 +1,7 @@ package us.ihmc.valkyrie.parameters; -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 ValkyrieOrderedJointMap { diff --git a/src/main/java/us/ihmc/valkyrie/parameters/ValkyriePhysicalProperties.java b/src/main/java/us/ihmc/valkyrie/parameters/ValkyriePhysicalProperties.java index 0b1d6d1..b9994f1 100644 --- a/src/main/java/us/ihmc/valkyrie/parameters/ValkyriePhysicalProperties.java +++ b/src/main/java/us/ihmc/valkyrie/parameters/ValkyriePhysicalProperties.java @@ -2,8 +2,8 @@ import us.ihmc.euclid.transform.RigidBodyTransform; import us.ihmc.euclid.tuple3D.Vector3D; -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 ValkyriePhysicalProperties { diff --git a/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieSensorInformation.java b/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieSensorInformation.java index 027bb6a..0f3a47e 100644 --- a/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieSensorInformation.java +++ b/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieSensorInformation.java @@ -11,8 +11,8 @@ import us.ihmc.euclid.tuple3D.Vector3D; import us.ihmc.euclid.tuple4D.Quaternion; import us.ihmc.euclid.yawPitchRoll.YawPitchRoll; -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.sensorProcessing.frames.CommonHumanoidReferenceFrames; import us.ihmc.sensorProcessing.parameters.AvatarRobotCameraParameters; import us.ihmc.sensorProcessing.parameters.AvatarRobotLidarParameters; diff --git a/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieStateEstimatorParameters.java b/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieStateEstimatorParameters.java index 089e019..c0a0048 100644 --- a/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieStateEstimatorParameters.java +++ b/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieStateEstimatorParameters.java @@ -16,10 +16,10 @@ import us.ihmc.avatar.drcRobot.RobotTarget; import us.ihmc.commonWalkingControlModules.sensors.footSwitch.WrenchBasedFootSwitchFactory; import us.ihmc.mecano.multiBodySystem.interfaces.OneDoFJointBasics; -import us.ihmc.commons.robotics.partNames.ArmJointName; -import us.ihmc.commons.robotics.partNames.LegJointName; -import us.ihmc.commons.robotics.robotSide.RobotSide; -import us.ihmc.commons.robotics.robotSide.SideDependentList; +import us.ihmc.robotics.partNames.ArmJointName; +import us.ihmc.robotics.partNames.LegJointName; +import us.ihmc.robotics.robotSide.RobotSide; +import us.ihmc.robotics.robotSide.SideDependentList; import us.ihmc.robotics.sensors.FootSwitchFactory; import us.ihmc.sensorProcessing.sensorProcessors.SensorProcessing; import us.ihmc.sensorProcessing.simulatedSensors.SensorNoiseParameters; diff --git a/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieUIAuxiliaryData.java b/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieUIAuxiliaryData.java index 3e228c5..ffef97d 100644 --- a/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieUIAuxiliaryData.java +++ b/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieUIAuxiliaryData.java @@ -3,7 +3,7 @@ import us.ihmc.avatar.drcRobot.RobotTarget; import us.ihmc.euclid.tuple3D.Vector3D; import us.ihmc.footstepPlanning.ui.UIAuxiliaryRobotData; -import us.ihmc.commons.robotics.robotSide.SideDependentList; +import us.ihmc.robotics.robotSide.SideDependentList; import us.ihmc.valkyrie.ValkyrieRobotModel; import java.util.function.ToDoubleFunction; diff --git a/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieWalkingControllerParameters.java b/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieWalkingControllerParameters.java index f49ad51..e48b0a8 100644 --- a/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieWalkingControllerParameters.java +++ b/src/main/java/us/ihmc/valkyrie/parameters/ValkyrieWalkingControllerParameters.java @@ -25,11 +25,11 @@ import us.ihmc.wholeBodyControlCore.pidGains.implementations.PID3DConfiguration; import us.ihmc.wholeBodyControlCore.pidGains.implementations.PIDGains; import us.ihmc.wholeBodyControlCore.pidGains.implementations.PIDSE3Configuration; -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.robotics.sensors.FootSwitchFactory; import java.util.ArrayList; diff --git a/src/main/java/us/ihmc/valkyrie/posePlayback/ValkyrieWarmupPoseSequencePacket.java b/src/main/java/us/ihmc/valkyrie/posePlayback/ValkyrieWarmupPoseSequencePacket.java index bc02b04..b0af2bd 100644 --- a/src/main/java/us/ihmc/valkyrie/posePlayback/ValkyrieWarmupPoseSequencePacket.java +++ b/src/main/java/us/ihmc/valkyrie/posePlayback/ValkyrieWarmupPoseSequencePacket.java @@ -12,8 +12,8 @@ import us.ihmc.mecano.multiBodySystem.interfaces.OneDoFJointBasics; import us.ihmc.robotModels.FullHumanoidRobotModel; import us.ihmc.robotModels.FullRobotModel; -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.valkyrie.configuration.YamlWithIncludesLoader; public class ValkyrieWarmupPoseSequencePacket implements PosePlaybackPacket diff --git a/src/main/java/us/ihmc/valkyrie/simulation/ValkyrieSimulationLowLevelController.java b/src/main/java/us/ihmc/valkyrie/simulation/ValkyrieSimulationLowLevelController.java index 0c22c6e..7508cf0 100644 --- a/src/main/java/us/ihmc/valkyrie/simulation/ValkyrieSimulationLowLevelController.java +++ b/src/main/java/us/ihmc/valkyrie/simulation/ValkyrieSimulationLowLevelController.java @@ -4,9 +4,9 @@ import us.ihmc.euclid.tools.EuclidCoreTools; import us.ihmc.mecano.multiBodySystem.interfaces.OneDoFJointBasics; import us.ihmc.robotModels.FullRobotModel; -import us.ihmc.commons.robotics.outputData.JointDesiredControlMode; -import us.ihmc.commons.robotics.outputData.JointDesiredOutputListReadOnly; -import us.ihmc.commons.robotics.outputData.JointDesiredOutputReadOnly; +import us.ihmc.robotics.outputData.JointDesiredControlMode; +import us.ihmc.robotics.outputData.JointDesiredOutputListReadOnly; +import us.ihmc.robotics.outputData.JointDesiredOutputReadOnly; import us.ihmc.simulationConstructionSetTools.robotController.SimpleRobotController; import us.ihmc.simulationconstructionset.OneDegreeOfFreedomJoint; import us.ihmc.simulationconstructionset.Robot; diff --git a/src/main/java/us/ihmc/valkyrie/simulation/ValkyrieSimulationLowLevelControllerFactory.java b/src/main/java/us/ihmc/valkyrie/simulation/ValkyrieSimulationLowLevelControllerFactory.java index b0a8dfb..9089084 100644 --- a/src/main/java/us/ihmc/valkyrie/simulation/ValkyrieSimulationLowLevelControllerFactory.java +++ b/src/main/java/us/ihmc/valkyrie/simulation/ValkyrieSimulationLowLevelControllerFactory.java @@ -2,7 +2,7 @@ import us.ihmc.avatar.drcRobot.SimulationLowLevelControllerFactory; import us.ihmc.robotModels.FullRobotModel; -import us.ihmc.commons.robotics.outputData.JointDesiredOutputListReadOnly; +import us.ihmc.robotics.outputData.JointDesiredOutputListReadOnly; import us.ihmc.simulationconstructionset.Robot; import us.ihmc.simulationconstructionset.util.RobotController; import us.ihmc.robotics.partNames.HumanoidJointNameMap; diff --git a/src/main/java/us/ihmc/valkyrie/simulation/ValkyrieSimulationPositionControlParameters.java b/src/main/java/us/ihmc/valkyrie/simulation/ValkyrieSimulationPositionControlParameters.java index 37920f1..49dfdc8 100644 --- a/src/main/java/us/ihmc/valkyrie/simulation/ValkyrieSimulationPositionControlParameters.java +++ b/src/main/java/us/ihmc/valkyrie/simulation/ValkyrieSimulationPositionControlParameters.java @@ -1,25 +1,25 @@ package us.ihmc.valkyrie.simulation; -import static us.ihmc.commons.robotics.partNames.ArmJointName.ELBOW_PITCH; -import static us.ihmc.commons.robotics.partNames.ArmJointName.ELBOW_ROLL; -import static us.ihmc.commons.robotics.partNames.ArmJointName.FIRST_WRIST_PITCH; -import static us.ihmc.commons.robotics.partNames.ArmJointName.SHOULDER_PITCH; -import static us.ihmc.commons.robotics.partNames.ArmJointName.SHOULDER_ROLL; -import static us.ihmc.commons.robotics.partNames.ArmJointName.SHOULDER_YAW; -import static us.ihmc.commons.robotics.partNames.ArmJointName.WRIST_ROLL; -import static us.ihmc.commons.robotics.partNames.LegJointName.ANKLE_PITCH; -import static us.ihmc.commons.robotics.partNames.LegJointName.ANKLE_ROLL; -import static us.ihmc.commons.robotics.partNames.LegJointName.HIP_PITCH; -import static us.ihmc.commons.robotics.partNames.LegJointName.HIP_ROLL; -import static us.ihmc.commons.robotics.partNames.LegJointName.HIP_YAW; -import static us.ihmc.commons.robotics.partNames.LegJointName.KNEE_PITCH; -import static us.ihmc.commons.robotics.partNames.NeckJointName.DISTAL_NECK_PITCH; -import static us.ihmc.commons.robotics.partNames.NeckJointName.DISTAL_NECK_YAW; -import static us.ihmc.commons.robotics.partNames.NeckJointName.PROXIMAL_NECK_PITCH; -import static us.ihmc.commons.robotics.partNames.SpineJointName.SPINE_PITCH; -import static us.ihmc.commons.robotics.partNames.SpineJointName.SPINE_ROLL; -import static us.ihmc.commons.robotics.partNames.SpineJointName.SPINE_YAW; -import static us.ihmc.commons.robotics.outputData.JointDesiredControlMode.POSITION; +import static us.ihmc.robotics.partNames.ArmJointName.ELBOW_PITCH; +import static us.ihmc.robotics.partNames.ArmJointName.ELBOW_ROLL; +import static us.ihmc.robotics.partNames.ArmJointName.FIRST_WRIST_PITCH; +import static us.ihmc.robotics.partNames.ArmJointName.SHOULDER_PITCH; +import static us.ihmc.robotics.partNames.ArmJointName.SHOULDER_ROLL; +import static us.ihmc.robotics.partNames.ArmJointName.SHOULDER_YAW; +import static us.ihmc.robotics.partNames.ArmJointName.WRIST_ROLL; +import static us.ihmc.robotics.partNames.LegJointName.ANKLE_PITCH; +import static us.ihmc.robotics.partNames.LegJointName.ANKLE_ROLL; +import static us.ihmc.robotics.partNames.LegJointName.HIP_PITCH; +import static us.ihmc.robotics.partNames.LegJointName.HIP_ROLL; +import static us.ihmc.robotics.partNames.LegJointName.HIP_YAW; +import static us.ihmc.robotics.partNames.LegJointName.KNEE_PITCH; +import static us.ihmc.robotics.partNames.NeckJointName.DISTAL_NECK_PITCH; +import static us.ihmc.robotics.partNames.NeckJointName.DISTAL_NECK_YAW; +import static us.ihmc.robotics.partNames.NeckJointName.PROXIMAL_NECK_PITCH; +import static us.ihmc.robotics.partNames.SpineJointName.SPINE_PITCH; +import static us.ihmc.robotics.partNames.SpineJointName.SPINE_ROLL; +import static us.ihmc.robotics.partNames.SpineJointName.SPINE_YAW; +import static us.ihmc.robotics.outputData.JointDesiredControlMode.POSITION; import static us.ihmc.valkyrie.ValkyrieHighLevelControllerParameters.configureBehavior; import static us.ihmc.valkyrie.ValkyrieHighLevelControllerParameters.configureSymmetricBehavior; diff --git a/src/main/java/us/ihmc/valkyrie/simulation/ValkyrieWholeBodyPositionControlSimulation.java b/src/main/java/us/ihmc/valkyrie/simulation/ValkyrieWholeBodyPositionControlSimulation.java index 636aebd..cfc7bdc 100644 --- a/src/main/java/us/ihmc/valkyrie/simulation/ValkyrieWholeBodyPositionControlSimulation.java +++ b/src/main/java/us/ihmc/valkyrie/simulation/ValkyrieWholeBodyPositionControlSimulation.java @@ -23,10 +23,10 @@ import us.ihmc.humanoidRobotics.communication.packets.dataobjects.HighLevelControllerName; import us.ihmc.mecano.multiBodySystem.interfaces.OneDoFJointBasics; import us.ihmc.pubsub.DomainFactory.PubSubImplementation; -import us.ihmc.commons.stateMachine.core.State; -import us.ihmc.commons.stateMachine.core.StateTransition; +import us.ihmc.robotics.stateMachine.core.State; +import us.ihmc.robotics.stateMachine.core.StateTransition; import us.ihmc.ros2.ROS2Node; -import us.ihmc.commons.robotics.outputData.JointDesiredOutputListReadOnly; +import us.ihmc.robotics.outputData.JointDesiredOutputListReadOnly; import us.ihmc.simulationConstructionSetTools.util.environments.DefaultCommonAvatarEnvironment; import us.ihmc.simulationToolkit.RobotDefinitionTools; import us.ihmc.valkyrie.ValkyrieInitialSetupFactories; diff --git a/src/main/java/us/ihmc/valkyrie/stepReachability/ValkyrieStepReachabilityCalculator.java b/src/main/java/us/ihmc/valkyrie/stepReachability/ValkyrieStepReachabilityCalculator.java index 2e9e04b..4cb1b74 100644 --- a/src/main/java/us/ihmc/valkyrie/stepReachability/ValkyrieStepReachabilityCalculator.java +++ b/src/main/java/us/ihmc/valkyrie/stepReachability/ValkyrieStepReachabilityCalculator.java @@ -4,9 +4,9 @@ import us.ihmc.avatar.drcRobot.RobotTarget; import us.ihmc.avatar.reachabilityMap.footstep.HumanoidStepReachabilityCalculator; import us.ihmc.robotics.partNames.HumanoidJointNameMap; -import us.ihmc.commons.robotics.partNames.LegJointName; +import us.ihmc.robotics.partNames.LegJointName; import us.ihmc.robotics.physics.RobotCollisionModel; -import us.ihmc.commons.robotics.robotSide.RobotSide; +import us.ihmc.robotics.robotSide.RobotSide; import us.ihmc.scs2.definition.robot.OneDoFJointDefinition; import us.ihmc.scs2.definition.robot.RobotDefinition; import us.ihmc.valkyrie.ValkyrieFootstepPlannerCollisionModel; diff --git a/src/main/java/us/ihmc/valkyrieRosControl/TorqueHysteresisCompensatorYoVariable.java b/src/main/java/us/ihmc/valkyrieRosControl/TorqueHysteresisCompensatorYoVariable.java index 8fa83e7..bb62103 100644 --- a/src/main/java/us/ihmc/valkyrieRosControl/TorqueHysteresisCompensatorYoVariable.java +++ b/src/main/java/us/ihmc/valkyrieRosControl/TorqueHysteresisCompensatorYoVariable.java @@ -2,7 +2,7 @@ import us.ihmc.commons.MathTools; import us.ihmc.mecano.multiBodySystem.interfaces.OneDoFJointBasics; -import us.ihmc.commons.robotics.outputData.JointDesiredOutputReadOnly; +import us.ihmc.robotics.outputData.JointDesiredOutputReadOnly; import us.ihmc.yoVariables.registry.YoRegistry; import us.ihmc.yoVariables.variable.YoBoolean; import us.ihmc.yoVariables.variable.YoDouble; diff --git a/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieCalibrationControllerState.java b/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieCalibrationControllerState.java index dd3ee70..bac549b 100644 --- a/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieCalibrationControllerState.java +++ b/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieCalibrationControllerState.java @@ -9,12 +9,12 @@ import us.ihmc.mecano.multiBodySystem.OneDoFJoint; import us.ihmc.mecano.multiBodySystem.interfaces.OneDoFJointBasics; import us.ihmc.mecano.tools.MultiBodySystemTools; -import us.ihmc.commons.trajectories.yoVariables.YoPolynomial; -import us.ihmc.commons.stateMachine.core.StateMachine; -import us.ihmc.commons.stateMachine.factories.StateMachineFactory; -import us.ihmc.commons.robotics.outputData.JointDesiredOutputBasics; -import us.ihmc.commons.robotics.outputData.JointDesiredOutputListReadOnly; -import us.ihmc.commons.robotics.outputData.JointDesiredOutputReadOnly; +import us.ihmc.robotics.trajectories.yoVariables.YoPolynomial; +import us.ihmc.robotics.stateMachine.core.StateMachine; +import us.ihmc.robotics.stateMachine.factories.StateMachineFactory; +import us.ihmc.robotics.outputData.JointDesiredOutputBasics; +import us.ihmc.robotics.outputData.JointDesiredOutputListReadOnly; +import us.ihmc.robotics.outputData.JointDesiredOutputReadOnly; import us.ihmc.stateEstimation.humanoid.kinematicsBasedStateEstimation.ForceSensorCalibrationModule; import us.ihmc.commons.lists.PairList; import us.ihmc.valkyrie.ValkyrieCalibrationParameters; diff --git a/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieRosControlController.java b/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieRosControlController.java index 07c3b28..c99a60c 100644 --- a/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieRosControlController.java +++ b/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieRosControlController.java @@ -37,8 +37,8 @@ import us.ihmc.robotDataLogger.logger.DataServerSettings; import us.ihmc.robotDataLogger.util.JVMStatisticsGenerator; import us.ihmc.robotModels.FullHumanoidRobotModel; -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.rosControl.EffortJointHandle; import us.ihmc.rosControl.wholeRobot.ForceTorqueSensorHandle; diff --git a/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieRosControlEffortJointControlCommandCalculator.java b/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieRosControlEffortJointControlCommandCalculator.java index f52990b..5d162b0 100644 --- a/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieRosControlEffortJointControlCommandCalculator.java +++ b/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieRosControlEffortJointControlCommandCalculator.java @@ -3,7 +3,7 @@ import us.ihmc.euclid.tools.EuclidCoreTools; import us.ihmc.mecano.multiBodySystem.interfaces.OneDoFJointBasics; import us.ihmc.robotics.controllers.PIDController; -import us.ihmc.commons.robotics.outputData.JointDesiredOutputReadOnly; +import us.ihmc.robotics.outputData.JointDesiredOutputReadOnly; import us.ihmc.valkyrieRosControl.dataHolders.YoEffortJointHandleHolder; import us.ihmc.yoVariables.registry.YoRegistry; import us.ihmc.yoVariables.variable.YoDouble; diff --git a/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieRosControlFingerStateEstimator.java b/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieRosControlFingerStateEstimator.java index eb9ef1f..2a0b22c 100644 --- a/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieRosControlFingerStateEstimator.java +++ b/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieRosControlFingerStateEstimator.java @@ -44,8 +44,8 @@ import us.ihmc.humanoidRobotics.communication.packets.dataobjects.HighLevelControllerName; import us.ihmc.log.LogTools; import us.ihmc.mecano.multiBodySystem.interfaces.OneDoFJointBasics; -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.sensorProcessing.sensorProcessors.SensorProcessing; import us.ihmc.sensorProcessing.simulatedSensors.SensorNoiseParameters; import us.ihmc.sensorProcessing.simulatedSensors.StateEstimatorSensorDefinitions; diff --git a/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieRosControlLowLevelController.java b/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieRosControlLowLevelController.java index c682a6d..05f81e5 100644 --- a/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieRosControlLowLevelController.java +++ b/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieRosControlLowLevelController.java @@ -14,7 +14,7 @@ import us.ihmc.humanoidRobotics.communication.packets.dataobjects.HighLevelControllerName; import us.ihmc.log.LogTools; import us.ihmc.mecano.multiBodySystem.interfaces.OneDoFJointBasics; -import us.ihmc.commons.robotics.robotSide.RobotSide; +import us.ihmc.robotics.robotSide.RobotSide; import us.ihmc.ros2.RealtimeROS2Node; import us.ihmc.tools.TimestampProvider; import us.ihmc.valkyrie.fingers.ValkyrieFingerController; diff --git a/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieRosControlSensorReaderFactory.java b/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieRosControlSensorReaderFactory.java index d66343e..418a7d9 100644 --- a/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieRosControlSensorReaderFactory.java +++ b/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieRosControlSensorReaderFactory.java @@ -9,7 +9,7 @@ import us.ihmc.mecano.multiBodySystem.interfaces.FloatingJointBasics; import us.ihmc.mecano.multiBodySystem.interfaces.JointBasics; import us.ihmc.mecano.multiBodySystem.interfaces.OneDoFJointBasics; -import us.ihmc.commons.robotics.robotSide.RobotSide; +import us.ihmc.robotics.robotSide.RobotSide; import us.ihmc.robotics.sensors.ForceSensorDefinition; import us.ihmc.robotics.sensors.IMUDefinition; import us.ihmc.ros2.RealtimeROS2Node; @@ -18,7 +18,7 @@ import us.ihmc.rosControl.wholeRobot.IMUHandle; import us.ihmc.rosControl.wholeRobot.JointStateHandle; import us.ihmc.rosControl.wholeRobot.PositionJointHandle; -import us.ihmc.commons.robotics.outputData.JointDesiredOutputListBasics; +import us.ihmc.robotics.outputData.JointDesiredOutputListBasics; import us.ihmc.sensorProcessing.simulatedSensors.SensorReaderFactory; import us.ihmc.sensorProcessing.simulatedSensors.StateEstimatorSensorDefinitions; import us.ihmc.sensorProcessing.stateEstimation.SensorProcessingConfiguration; diff --git a/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieTorqueHysteresisCompensator.java b/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieTorqueHysteresisCompensator.java index 9db6c8d..e69c9eb 100644 --- a/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieTorqueHysteresisCompensator.java +++ b/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieTorqueHysteresisCompensator.java @@ -7,7 +7,7 @@ import us.ihmc.commonWalkingControlModules.controllerCore.command.lowLevel.YoJointDesiredOutput; import us.ihmc.mecano.multiBodySystem.interfaces.OneDoFJointBasics; -import us.ihmc.commons.robotics.outputData.JointDesiredOutputReadOnly; +import us.ihmc.robotics.outputData.JointDesiredOutputReadOnly; import us.ihmc.valkyrieRosControl.dataHolders.YoEffortJointHandleHolder; import us.ihmc.yoVariables.registry.YoRegistry; import us.ihmc.yoVariables.variable.YoDouble; diff --git a/src/main/java/us/ihmc/valkyrieRosControl/automatedDiagnosticControl/ValkyrieAutomatedDiagnosticController.java b/src/main/java/us/ihmc/valkyrieRosControl/automatedDiagnosticControl/ValkyrieAutomatedDiagnosticController.java index bc5ce89..03d8e11 100644 --- a/src/main/java/us/ihmc/valkyrieRosControl/automatedDiagnosticControl/ValkyrieAutomatedDiagnosticController.java +++ b/src/main/java/us/ihmc/valkyrieRosControl/automatedDiagnosticControl/ValkyrieAutomatedDiagnosticController.java @@ -20,9 +20,9 @@ import us.ihmc.realtime.RealtimeThread; import us.ihmc.robotDataLogger.YoVariableServer; import us.ihmc.robotModels.FullHumanoidRobotModel; -import us.ihmc.commons.robotics.contactable.ContactablePlaneBody; -import us.ihmc.commons.robotics.robotSide.RobotSide; -import us.ihmc.commons.robotics.robotSide.SideDependentList; +import us.ihmc.robotics.contactable.ContactablePlaneBody; +import us.ihmc.robotics.robotSide.RobotSide; +import us.ihmc.robotics.robotSide.SideDependentList; import us.ihmc.robotics.sensors.CenterOfMassDataHolder; import us.ihmc.robotics.sensors.FootSwitchFactory; import us.ihmc.robotics.sensors.FootSwitchInterface; @@ -30,7 +30,7 @@ import us.ihmc.robotics.sensors.ForceSensorDataReadOnly; import us.ihmc.robotics.sensors.ForceSensorDefinition; import us.ihmc.robotics.sensors.IMUDefinition; -import us.ihmc.commons.time.ExecutionTimer; +import us.ihmc.robotics.time.ExecutionTimer; import us.ihmc.rosControl.EffortJointHandle; import us.ihmc.rosControl.wholeRobot.ForceTorqueSensorHandle; import us.ihmc.rosControl.wholeRobot.IHMCWholeRobotControlJavaBridge; @@ -39,7 +39,7 @@ import us.ihmc.rosControl.wholeRobot.PositionJointHandle; import us.ihmc.sensorProcessing.model.RobotMotionStatus; import us.ihmc.sensorProcessing.model.RobotMotionStatusHolder; -import us.ihmc.commons.robotics.outputData.JointDesiredOutputList; +import us.ihmc.robotics.outputData.JointDesiredOutputList; import us.ihmc.sensorProcessing.parameters.HumanoidRobotSensorInformation; import us.ihmc.sensorProcessing.sensorProcessors.SensorOutputMapReadOnly; import us.ihmc.sensorProcessing.stateEstimation.StateEstimatorParameters; diff --git a/src/main/java/us/ihmc/valkyrieRosControl/dataHolders/YoEffortJointHandleHolder.java b/src/main/java/us/ihmc/valkyrieRosControl/dataHolders/YoEffortJointHandleHolder.java index a33bba8..cbccbc7 100644 --- a/src/main/java/us/ihmc/valkyrieRosControl/dataHolders/YoEffortJointHandleHolder.java +++ b/src/main/java/us/ihmc/valkyrieRosControl/dataHolders/YoEffortJointHandleHolder.java @@ -3,8 +3,8 @@ import us.ihmc.commonWalkingControlModules.controllerCore.command.lowLevel.YoJointDesiredOutput; import us.ihmc.mecano.multiBodySystem.interfaces.OneDoFJointBasics; import us.ihmc.rosControl.EffortJointHandle; -import us.ihmc.commons.robotics.outputData.JointDesiredOutput; -import us.ihmc.commons.robotics.outputData.JointDesiredOutputBasics; +import us.ihmc.robotics.outputData.JointDesiredOutput; +import us.ihmc.robotics.outputData.JointDesiredOutputBasics; import us.ihmc.yoVariables.parameters.DoubleParameter; import us.ihmc.yoVariables.registry.YoRegistry; import us.ihmc.yoVariables.variable.YoDouble; diff --git a/src/main/java/us/ihmc/valkyrieRosControl/dataHolders/YoPositionJointHandleHolder.java b/src/main/java/us/ihmc/valkyrieRosControl/dataHolders/YoPositionJointHandleHolder.java index 085ef44..b6bdf23 100644 --- a/src/main/java/us/ihmc/valkyrieRosControl/dataHolders/YoPositionJointHandleHolder.java +++ b/src/main/java/us/ihmc/valkyrieRosControl/dataHolders/YoPositionJointHandleHolder.java @@ -2,7 +2,7 @@ import us.ihmc.mecano.multiBodySystem.interfaces.OneDoFJointBasics; import us.ihmc.rosControl.wholeRobot.PositionJointHandle; -import us.ihmc.commons.robotics.outputData.JointDesiredOutputReadOnly; +import us.ihmc.robotics.outputData.JointDesiredOutputReadOnly; import us.ihmc.yoVariables.registry.YoRegistry; import us.ihmc.yoVariables.variable.YoDouble; diff --git a/src/test/java/us/ihmc/valkyrie/behaviorTests/ValkyrieHandDesiredConfigurationBehaviorTest.java b/src/test/java/us/ihmc/valkyrie/behaviorTests/ValkyrieHandDesiredConfigurationBehaviorTest.java index 7440def..9cea5ee 100644 --- a/src/test/java/us/ihmc/valkyrie/behaviorTests/ValkyrieHandDesiredConfigurationBehaviorTest.java +++ b/src/test/java/us/ihmc/valkyrie/behaviorTests/ValkyrieHandDesiredConfigurationBehaviorTest.java @@ -6,7 +6,7 @@ import us.ihmc.avatar.behaviorTests.HumanoidHandDesiredConfigurationBehaviorTest; import us.ihmc.avatar.drcRobot.DRCRobotModel; import us.ihmc.avatar.drcRobot.RobotTarget; -import us.ihmc.commons.robotics.robotSide.RobotSide; +import us.ihmc.robotics.robotSide.RobotSide; import us.ihmc.simulationConstructionSetTools.tools.CITools; import us.ihmc.valkyrie.ValkyrieRobotModel; diff --git a/src/test/java/us/ihmc/valkyrie/controllerAPI/ValkyrieEndToEndHandFingerTrajectoryMessageTest.java b/src/test/java/us/ihmc/valkyrie/controllerAPI/ValkyrieEndToEndHandFingerTrajectoryMessageTest.java index 0b425b2..0063726 100644 --- a/src/test/java/us/ihmc/valkyrie/controllerAPI/ValkyrieEndToEndHandFingerTrajectoryMessageTest.java +++ b/src/test/java/us/ihmc/valkyrie/controllerAPI/ValkyrieEndToEndHandFingerTrajectoryMessageTest.java @@ -19,7 +19,7 @@ import us.ihmc.idl.IDLSequence.Object; import us.ihmc.mecano.multiBodySystem.interfaces.OneDoFJointReadOnly; import us.ihmc.mecano.multiBodySystem.iterators.SubtreeStreams; -import us.ihmc.commons.robotics.robotSide.RobotSide; +import us.ihmc.robotics.robotSide.RobotSide; import us.ihmc.scs2.simulation.robot.Robot; import us.ihmc.scs2.simulation.robot.multiBodySystem.interfaces.SimOneDoFJointBasics; import us.ihmc.simulationConstructionSetTools.tools.CITools; diff --git a/src/test/java/us/ihmc/valkyrie/controllerAPI/ValkyrieEndToEndHandTrajectoryMessageTest.java b/src/test/java/us/ihmc/valkyrie/controllerAPI/ValkyrieEndToEndHandTrajectoryMessageTest.java index 0a31390..6bbeea2 100644 --- a/src/test/java/us/ihmc/valkyrie/controllerAPI/ValkyrieEndToEndHandTrajectoryMessageTest.java +++ b/src/test/java/us/ihmc/valkyrie/controllerAPI/ValkyrieEndToEndHandTrajectoryMessageTest.java @@ -25,7 +25,7 @@ import us.ihmc.robotics.math.trajectories.generators.EuclideanTrajectoryPointCalculator; import us.ihmc.robotics.math.trajectories.trajectorypoints.FrameEuclideanTrajectoryPoint; import us.ihmc.robotics.math.trajectories.trajectorypoints.lists.FrameEuclideanTrajectoryPointList; -import us.ihmc.commons.robotics.robotSide.RobotSide; +import us.ihmc.robotics.robotSide.RobotSide; import us.ihmc.robotics.screwTheory.SelectionMatrix3D; import us.ihmc.simulationConstructionSetTools.tools.CITools; import us.ihmc.simulationconstructionset.util.simulationRunner.BlockingSimulationRunner.SimulationExceededMaximumTimeException; diff --git a/src/test/java/us/ihmc/valkyrie/externalForceEstimation/ValkyrieContactPointProjectorTest.java b/src/test/java/us/ihmc/valkyrie/externalForceEstimation/ValkyrieContactPointProjectorTest.java index 367a679..ddf567f 100644 --- a/src/test/java/us/ihmc/valkyrie/externalForceEstimation/ValkyrieContactPointProjectorTest.java +++ b/src/test/java/us/ihmc/valkyrie/externalForceEstimation/ValkyrieContactPointProjectorTest.java @@ -17,7 +17,7 @@ import us.ihmc.robotModels.FullHumanoidRobotModel; import us.ihmc.robotics.physics.Collidable; import us.ihmc.robotics.physics.RobotCollisionModel; -import us.ihmc.commons.robotics.robotSide.RobotSide; +import us.ihmc.robotics.robotSide.RobotSide; import us.ihmc.simulationconstructionset.FloatingRootJointRobot; import us.ihmc.simulationconstructionset.SimulationConstructionSet; import us.ihmc.valkyrie.ValkyrieRobotModel; diff --git a/src/test/java/us/ihmc/valkyrie/manipulation/ValkyrieWalkingTrajectoryPathFrameEndToEndTest.java b/src/test/java/us/ihmc/valkyrie/manipulation/ValkyrieWalkingTrajectoryPathFrameEndToEndTest.java index 9aa3745..7da8226 100644 --- a/src/test/java/us/ihmc/valkyrie/manipulation/ValkyrieWalkingTrajectoryPathFrameEndToEndTest.java +++ b/src/test/java/us/ihmc/valkyrie/manipulation/ValkyrieWalkingTrajectoryPathFrameEndToEndTest.java @@ -29,8 +29,8 @@ import us.ihmc.euclid.referenceFrame.FramePose3D; import us.ihmc.euclid.referenceFrame.FrameVector3D; import us.ihmc.euclid.referenceFrame.ReferenceFrame; -import us.ihmc.euclid.tools.EuclidCoreMissingTools; import us.ihmc.euclid.tools.EuclidCoreTestTools; +import us.ihmc.euclid.tools.EuclidCoreTools; import us.ihmc.euclid.transform.RigidBodyTransform; import us.ihmc.euclid.transform.interfaces.RigidBodyTransformReadOnly; import us.ihmc.euclid.tuple3D.Point3D; @@ -41,7 +41,7 @@ import us.ihmc.mecano.tools.MultiBodySystemTools; import us.ihmc.robotModels.FullHumanoidRobotModel; import us.ihmc.robotics.math.trajectories.generators.MultipleWaypointsPositionTrajectoryGenerator; -import us.ihmc.commons.robotics.robotSide.RobotSide; +import us.ihmc.robotics.robotSide.RobotSide; import us.ihmc.scs2.definition.controller.interfaces.Controller; import us.ihmc.scs2.definition.robot.ExternalWrenchPointDefinition; import us.ihmc.scs2.definition.robot.MomentOfInertiaDefinition; @@ -400,7 +400,7 @@ public void doControl() FrameVector3D zUp = new FrameVector3D(pendulumAttachmentPoint.getFrame(), Axis3D.Z); zUp.changeFrame(rootFrame); - double angle = EuclidCoreMissingTools.angleFromFirstToSecondVector3D(zUp, Axis3D.Z); + double angle = EuclidCoreTools.angleFromFirstToSecondVector3D(zUp, Axis3D.Z); currentAngle.set(angle); oscillationCalculator.increment(angle); angleStandardDeviation.set(oscillationCalculator.getResult()); diff --git a/src/test/java/us/ihmc/valkyrie/multiContact/ValkyrieRobotTransformOptimizerTest.java b/src/test/java/us/ihmc/valkyrie/multiContact/ValkyrieRobotTransformOptimizerTest.java index 61d95cd..b034e46 100644 --- a/src/test/java/us/ihmc/valkyrie/multiContact/ValkyrieRobotTransformOptimizerTest.java +++ b/src/test/java/us/ihmc/valkyrie/multiContact/ValkyrieRobotTransformOptimizerTest.java @@ -8,7 +8,6 @@ import us.ihmc.avatar.drcRobot.DRCRobotModel; import us.ihmc.avatar.drcRobot.RobotTarget; import us.ihmc.avatar.multiContact.HumanoidRobotTransformOptimizerTest; -import us.ihmc.euclid.tools.EuclidCoreMissingRandomTools; import us.ihmc.euclid.tools.EuclidCoreRandomTools; import us.ihmc.valkyrie.ValkyrieInitialSetupFactories; import us.ihmc.valkyrie.ValkyrieMutableInitialSetup; diff --git a/src/test/java/us/ihmc/valkyrie/obstacleCourse/ValkyrieObstacleCourseTrialsTerrainTest.java b/src/test/java/us/ihmc/valkyrie/obstacleCourse/ValkyrieObstacleCourseTrialsTerrainTest.java index 422a8a1..5136acb 100644 --- a/src/test/java/us/ihmc/valkyrie/obstacleCourse/ValkyrieObstacleCourseTrialsTerrainTest.java +++ b/src/test/java/us/ihmc/valkyrie/obstacleCourse/ValkyrieObstacleCourseTrialsTerrainTest.java @@ -7,7 +7,7 @@ import us.ihmc.avatar.drcRobot.DRCRobotModel; import us.ihmc.avatar.drcRobot.RobotTarget; import us.ihmc.avatar.obstacleCourseTests.DRCObstacleCourseTrialsTerrainTest; -import us.ihmc.commons.robotics.robotSide.RobotSide; +import us.ihmc.robotics.robotSide.RobotSide; import us.ihmc.simulationConstructionSetTools.tools.CITools; import us.ihmc.valkyrie.ValkyrieRobotModel; import us.ihmc.wholeBodyController.AdditionalSimulationContactPoints; diff --git a/src/test/java/us/ihmc/valkyrie/roughTerrainWalking/ValkyrieEndToEndStairsTest.java b/src/test/java/us/ihmc/valkyrie/roughTerrainWalking/ValkyrieEndToEndStairsTest.java index 1ce71b3..5cd7e7b 100644 --- a/src/test/java/us/ihmc/valkyrie/roughTerrainWalking/ValkyrieEndToEndStairsTest.java +++ b/src/test/java/us/ihmc/valkyrie/roughTerrainWalking/ValkyrieEndToEndStairsTest.java @@ -13,7 +13,7 @@ import us.ihmc.avatar.drcRobot.DRCRobotModel; import us.ihmc.avatar.drcRobot.RobotTarget; import us.ihmc.avatar.roughTerrainWalking.HumanoidEndToEndStairsTest; -import us.ihmc.commons.robotics.robotSide.RobotSide; +import us.ihmc.robotics.robotSide.RobotSide; import us.ihmc.valkyrie.ValkyrieRobotModel; import us.ihmc.valkyrie.configuration.ValkyrieRobotVersion; import us.ihmc.valkyrie.simulation.ValkyrieFlatGroundQuickWalkingTest; diff --git a/src/test/java/us/ihmc/valkyrie/simulation/ValkyrieExperimentalSimulationEndToEndTest.java b/src/test/java/us/ihmc/valkyrie/simulation/ValkyrieExperimentalSimulationEndToEndTest.java index 866f1f7..c556bdf 100644 --- a/src/test/java/us/ihmc/valkyrie/simulation/ValkyrieExperimentalSimulationEndToEndTest.java +++ b/src/test/java/us/ihmc/valkyrie/simulation/ValkyrieExperimentalSimulationEndToEndTest.java @@ -11,10 +11,10 @@ import us.ihmc.avatar.testTools.scs2.SCS2AvatarTestingSimulationFactory; import us.ihmc.humanoidRobotics.communication.packets.dataobjects.HighLevelControllerName; 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.commons.robotics.robotSide.RobotSide; +import us.ihmc.robotics.partNames.LegJointName; +import us.ihmc.robotics.robotSide.RobotSide; import us.ihmc.simulationConstructionSetTools.util.environments.FlatGroundEnvironment; import us.ihmc.valkyrie.ValkyrieRobotModel; import us.ihmc.valkyrie.configuration.ValkyrieRobotVersion;