[hironx client] Remove experimental dependency (see #469 (comment)).

Author: 130s

hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py

@@ -84,141 +84,8 @@ def delete_module(modname, paranoid=None):
                 except AttributeError:
                     pass
 
-class HrpsysConfigurator2(HrpsysConfigurator): ## JUST FOR TEST, REMOVE WHEN YOU MERGE
-    default_frame_name = 'WAIST'
-
-    def getCurrentPose(self, lname=None, frame_name=None):
-        '''!@brief
-        Returns the current physical pose of the specified joint.
-        cf. getReferencePose that returns commanded value.
-
-        eg.
-        \verbatim
-             IN: robot.getCurrentPose('LARM_JOINT5')
-             OUT: [-0.0017702356144599085,
-              0.00019034630541264752,
-              -0.9999984150158207,
-              0.32556275164378523,
-              0.00012155879975329215,
-              0.9999999745367515,
-               0.0001901314142046251,
-               0.18236394191140365,
-               0.9999984257434246,
-               -0.00012122202968358842,
-               -0.001770258707652326,
-               0.07462472659364472,
-               0.0,
-               0.0,
-               0.0,
-               1.0]
-        \endverbatim
-
-        @type lname: str
-        @param lname: Name of the link.
-        @param frame_name str: set reference frame name (from 315.2.5)
-        @rtype: list of float
-        @return: Rotational matrix and the position of the given joint in
-                 1-dimensional list, that is:
-        \verbatim
-                 [a11, a12, a13, x,
-                  a21, a22, a23, y,
-                  a31, a32, a33, z,
-                   0,   0,   0,  1]
-        \endverbatim
-        '''
-        if not lname:
-            for item in self.Groups:
-                eef_name = item[1][-1]
-                print("{}: {}".format(eef_name, self.getCurrentPose(eef_name)))
-            raise RuntimeError("need to specify joint name")
-        ####
-        #### for hrpsys >= 315.2.5, frame_name is supported
-        ####   default_frame_name is set, call with lname:default_frame_name
-        ####   frame_name is given, call with lname:frame_name
-        ####   frame_name is none, call with lname
-        #### for hrpsys <= 315.2.5, frame_name is not supported
-        ####   frame_name is given, call with lname with warning / oerror
-        ####   frame_name is none, call with lname
-        if StrictVersion(self.fk_version) >= StrictVersion('315.2.5'):                         ### CHANGED
-            if self.default_frame_name and frame_name is None:
-                frame_name = self.default_frame_name
-            if frame_name and not ':' in lname:
-                lname = lname + ':' + frame_name
-        else: # hrpsys < 315.2.4
-            if frame_name:
-                print('frame_name ('+lname+') is not supported') ### CHANGED
-        pose = self.fk_svc.getCurrentPose(lname)
-        if not pose[0]:
-            raise RuntimeError("Could not find reference : " + lname)
-        return pose[1].data
-
-    def getReferencePose(self, lname, frame_name=None):
-        '''!@brief
-        Returns the current commanded pose of the specified joint.
-        cf. getCurrentPose that returns physical pose.
-
-        @type lname: str
-        @param lname: Name of the link.
-        @param frame_name str: set reference frame name (from 315.2.5)
-        @rtype: list of float
-        @return: Rotational matrix and the position of the given joint in
-                 1-dimensional list, that is:
-        \verbatim
-                 [a11, a12, a13, x,
-                  a21, a22, a23, y,
-                  a31, a32, a33, z,
-                   0,   0,   0,  1]
-        \endverbatim
-        '''
-        if not lname:
-            for item in self.Groups:
-                eef_name = item[1][-1]
-                print("{}: {}".format(eef_name, self.getReferencePose(eef_name)))
-            raise RuntimeError("need to specify joint name")
-        if StrictVersion(self.fk_version) >= StrictVersion('315.2.5'):                         ### CHANGED
-            if self.default_frame_name and frame_name is None:
-                frame_name = self.default_frame_name
-            if frame_name and not ':' in lname:
-                lname = lname + ':' + frame_name
-        else: # hrpsys < 315.2.4
-            if frame_name:
-                print('frame_name ('+lname+') is not supported') ### CHANGED
-        pose = self.fk_svc.getReferencePose(lname)
-        if not pose[0]:
-            raise RuntimeError("Could not find reference : " + lname)
-        return pose[1].data
-
-    def setTargetPose(self, gname, pos, rpy, tm, frame_name=None):
-        '''!@brief
-        Move the end-effector to the given absolute pose.
-        All d* arguments are in meter.
-
-        @param gname str: Name of the joint group.
-        @param pos list of float: In meter.
-        @param rpy list of float: In radian.
-        @param tm float: Second to complete the command.
-        @param frame_name str: Name of the frame that this particular command
-                           references to.
-        @return bool: False if unreachable.
-        '''
-        print(gname, frame_name, pos, rpy, tm)
-        if StrictVersion(self.seq_version) >= StrictVersion('315.2.5'):                         ### CHANGED
-            if self.default_frame_name and frame_name is None:
-                frame_name = self.default_frame_name
-            if frame_name and not ':' in gname:
-                gname = gname + ':' + frame_name
-        else: # hrpsys < 315.2.4
-            if frame_name and not ':' in gname:
-                print('frame_name ('+gname+') is not supported') ### CHANGED
-        result = self.seq_svc.setTargetPose(gname, pos, rpy, tm)
-        if not result:
-            print("setTargetPose failed. Maybe SequencePlayer failed to solve IK.\n"
-                   + "Currently, returning IK result error\n"
-                   + "(like the one in https://github.com/start-jsk/rtmros_hironx/issues/103)"
-                   + " is not implemented. Patch is welcomed.")
-        return result
-
-class HIRONX(HrpsysConfigurator2):
+
+class HIRONX(HrpsysConfigurator):
     '''
     @see: <a href = "https://github.com/fkanehiro/hrpsys-base/blob/master/" +
                     "python/hrpsys_config.py">HrpsysConfigurator</a>