fixed mistake in previous commit

Author: Stefanos19

src/prpy/base/micohand.py

@@ -34,131 +34,6 @@
 from ..exceptions import PrPyException
 from endeffector import EndEffector
 
-class MicoHand(EndEffector):
-    def __init__(self, sim, manipulator):
-        EndEffector.__init__(self, manipulator)
-
-        robot = manipulator.GetRobot()
-        env = robot.GetEnv()
-
-        self.simulated = sim
-
-        with env:
-            accel_limits = robot.GetDOFAccelerationLimits()
-            accel_limits[self.GetIndices()] = 1.
-            robot.SetDOFAccelerationLimits(accel_limits)
-
-        if sim:
-            robot = manipulator.GetRobot()
-            self.controller = robot.AttachController(
-                self.GetName(), '', self.GetIndices(), 0, True)
-
-    def CloneBindings(self, parent):
-        super(MicoHand, self).CloneBindings(parent)
-
-        self.simulated = True
-
-    def MoveHand(self, f1, f2, timeout=None):
-        """
-        Change the hand preshape. This function blocks until trajectory
-        execution finishes. This can be changed by changing the timeout
-        parameter to a maximum number of seconds. Pass zero to return
-        instantantly.
-
-        @param f1 finger 1 angle
-        @param f2 finger 2 angle
-        @param timeout blocking execution timeout
-        """
-
-        from openravepy import PlannerStatus
-
-        robot = self.GetParent()
-
-        with robot.GetEnv():
-            sp = openravepy.Robot.SaveParameters
-            with robot.CreateRobotStateSaver(sp.ActiveDOF):
-                robot.SetActiveDOFs(self.GetIndices())
-                cspec = robot.GetActiveConfigurationSpecification('linear')
-                current_preshape = robot.GetActiveDOFValues()
-
-            # Default any None's to the current DOF values.
-            desired_preshape = current_preshape.copy()
-            if f1 is not None: desired_preshape[0] = f1
-            if f2 is not None: desired_preshape[1] = f2
-
-        # Create a two waypoint trajectory to the target configuration.
-        traj = openravepy.RaveCreateTrajectory(robot.GetEnv(), '')
-        traj.Init(cspec)
-        traj.Insert(0, current_preshape)
-        traj.Insert(1, desired_preshape)
-
-        # Time the trajectory so we can execute it.
-        result = openravepy.planningutils.RetimeTrajectory(
-            traj, False, 1., 1., 'LinearTrajectoryRetimer')
-
-        if result not in [ PlannerStatus.HasSolution,
-                           PlannerStatus.InterruptedWithSolution ]:
-            raise PrPyException('Failed timing finger trajectory.')
-
-        # Execute the trajectory.
-        return robot.ExecuteTrajectory(traj)
-       
-    def OpenHand(self, value=0., timeout=None):
-        """
-        Open the hand.
-        @param timeout blocking execution timeout
-        """
-        if self.simulated:
-            robot = self.manipulator.GetRobot()
-            p = openravepy.KinBody.SaveParameters
-
-            with robot.CreateRobotStateSaver(p.ActiveDOF | p.ActiveManipulator):
-                self.manipulator.SetActive()
-                robot.task_manipulation.ReleaseFingers()
-
-            if timeout:
-                robot.WaitForController(timeout)
-
-            return None
-        else:
-            return self.MoveHand(f1=value, f2=value, timeout=timeout)
-
-    #!/usr/bin/env python
-
-# Copyright (c) 2014, Carnegie Mellon University
-# All rights reserved.
-# Authors: Tekin Mericli <tekin@cmu.edu>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-# 
-# - Redistributions of source code must retain the above copyright notice, this
-#   list of conditions and the following disclaimer.
-# - Redistributions in binary form must reproduce the above copyright notice,
-#   this list of conditions and the following disclaimer in the documentation
-#   and/or other materials provided with the distribution.
-# - Neither the name of Carnegie Mellon University nor the names of its
-#   contributors may be used to endorse or promote products derived from this
-#   software without specific prior written permission.
-# 
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-import numpy
-import openravepy
-from .. import util
-from ..exceptions import PrPyException
-from endeffector import EndEffector
-
 class MicoHand(EndEffector):
     def __init__(self, sim, manipulator):
         EndEffector.__init__(self, manipulator)
@@ -259,9 +134,3 @@ def CloseHandTight(self, value=1.2, timeout=None):
         @param timeout blocking execution timeout
         """
         return self.CloseHand(value=value, timeout=timeout)
-
-    def CloseHandTight(self, value=1.2, timeout=None):
-        """ Close the hand tightly.
-        @param timeout blocking execution timeout
-        """
-        return self.CloseHand(value=value, timeout=timeout)