remove unused imports and definitions

tue-robotics · Aug 1, 2023 · 1513c36 · 1513c36
1 parent 4a7f00a
commit 1513c36
Show file tree

Hide file tree

Showing 4 changed files with 3 additions and 48 deletions.
diff --git a/challenge_serve_breakfast/src/challenge_serve_breakfast/navigate_to_and_pick_item.py b/challenge_serve_breakfast/src/challenge_serve_breakfast/navigate_to_and_pick_item.py
@@ -8,12 +8,10 @@
 import rospkg
 import rospy
 
-from challenge_serve_breakfast.tuning import REQUIRED_ITEMS, JOINTS_HANDOVER, PICK_ROTATION
+from challenge_serve_breakfast.tuning import REQUIRED_ITEMS, JOINTS_HANDOVER
 from robot_skills import get_robot
-from robot_skills.arm.arms import GripperTypes
 # ROS
 from pykdl_ros import VectorStamped
-from robot_smach_states.human_interaction import Say
 from robot_smach_states.navigation import NavigateToSymbolic
 from robot_smach_states.util.designators import EdEntityDesignator
 from smach import StateMachine, cb_interface, CBState

diff --git a/...enge_serve_breakfast/src/challenge_serve_breakfast/navigate_to_and_place_item_on_table.py b/...enge_serve_breakfast/src/challenge_serve_breakfast/navigate_to_and_place_item_on_table.py
@@ -15,17 +15,11 @@
 
 from challenge_serve_breakfast.tuning import (
     get_item_place_pose,
-    JOINTS_PRE_PRE_PLACE,
-    JOINTS_PRE_PLACE_HORIZONTAL,
-    JOINTS_PRE_PLACE_VERTICAL,
     ITEM_VECTOR_DICT,
     item_vector_to_item_frame,
     item_frame_to_pose,
-    JOINTS_PLACE_HORIZONTAL,
-    JOINTS_PLACE_HORIZONTAL_MILK,
-    JOINTS_PLACE_VERTICAL,
-    JOINTS_RETRACT,
-    COLOR_DICT, REQUIRED_ITEMS,
+    COLOR_DICT,
+    REQUIRED_ITEMS,
 )
 from robot_skills import get_robot
 from robot_smach_states.human_interaction import Say

diff --git a/challenge_serve_breakfast/src/challenge_serve_breakfast/pick_pour_place_cereal.py b/challenge_serve_breakfast/src/challenge_serve_breakfast/pick_pour_place_cereal.py
@@ -4,30 +4,14 @@
 #
 # \author Rein Appeldoorn
 
-import copy
 import os
 
-import PyKDL
 import rospy
 from pykdl_ros import FrameStamped
 
 from challenge_serve_breakfast.tuning import (
-    get_item_place_pose,
     get_item_pour_poses,
     JOINTS_POST_PICK,
-    JOINTS_PRE_PRE_PLACE,
-    JOINTS_PRE_PLACE_HORIZONTAL,
-    JOINTS_PRE_PLACE_VERTICAL,
-    ITEM_VECTOR_DICT,
-    item_vector_to_item_frame,
-    item_frame_to_pose,
-    JOINTS_PLACE_HORIZONTAL,
-    JOINTS_PLACE_HORIZONTAL_MILK,
-    JOINTS_PLACE_VERTICAL,
-    JOINTS_RETRACT,
-    COLOR_DICT, REQUIRED_ITEMS,
-    POUR_OFFSET_Y, JOINTS_PRE_POUR, JOINTS_POUR, JOINTS_PLACE_HORIZONTAL, JOINTS_RETRACT, \
-    POUR_OFFSET_X
 )
 from challenge_serve_breakfast.navigate_to_and_place_item_on_table import PlaceItemOnTable
 from robot_skills import get_robot

diff --git a/challenge_serve_breakfast/src/challenge_serve_breakfast/tuning.py b/challenge_serve_breakfast/src/challenge_serve_breakfast/tuning.py
@@ -47,31 +47,10 @@
     "cereal_box": ColorRGBA(1, 1, 0, 1),
 }
 
-PICK_ROTATION = 0
-
 JOINTS_HANDOVER = [0.4, -0.2, 0.0, -1.37, 0]
 
-JOINTS_PRE_PRE_PLACE = [0.69, 0, 0, -0.7, 0]
-
-JOINTS_PRE_PLACE_HORIZONTAL = [0.8, -1.2, 0, 0, 0]
-JOINTS_PLACE_HORIZONTAL = [0.65, -1.75, 0, 0, 0]
-JOINTS_PLACE_HORIZONTAL_MILK = [0.55, -1.75, 0, 0, 0]
-
-JOINTS_PRE_PLACE_VERTICAL = [0.8, -1.2, 0, -1.57, 0]
-JOINTS_PLACE_VERTICAL = [0.65, -1.57, 0, -1.57, 0]
-
-JOINTS_RETRACT = [0.7, 0, 0, -1.57, 0]
-
 JOINTS_POST_PICK = [0.7, -1.2, 0, 0, 0]
 
-JOINTS_PRE_POUR = [0.35, -1.2, 0, 0, 0]
-
-JOINTS_POUR = [0.4, -1.2, -2.5, 0, 0]
-
-POUR_OFFSET_X = -0.15
-POUR_OFFSET_Y = 0.15
-
-
 def item_vector_to_item_frame(item_vector):
     frame = copy.deepcopy(BREAKFAST_POSE)