public RobotChannelsLifecycle(Robot.Id robotId){ super(new DescriptorListBuilder() .dependency(theRobot, Robot.class) .with(Robot.PROP_ID, robotId.getRobtIdString()) .dependency(theJointGroup, JointGroup.class) .with(Robot.PROP_ID, robotId.getRobtIdString()) .optional() .getDescriptors()); if(myRegistrationProperties == null){ myRegistrationProperties = new Properties(); } myRegistrationProperties.put(Robot.PROP_ID, robotId.getRobtIdString()); }