Remove tool contact from test.

UniversalRobots · Jul 4, 2024 · d2c14a4 · d2c14a4
1 parent baf73e6
commit d2c14a4
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Showing 2 changed files with 0 additions and 16 deletions.
diff --git a/ur_robot_driver/test/robot_driver.py b/ur_robot_driver/test/robot_driver.py
@@ -249,20 +249,6 @@ def test_trajectory_scaled(self, tf_prefix):
         )
         self.assertEqual(result.error_code, FollowJointTrajectory.Result.SUCCESSFUL)
 
-    def test_tool_contact(self, tf_prefix):
-        if self._io_status_controller_interface.get_robot_software_version().major < 5:
-            start_result = self._io_status_controller_interface.start_tool_contact()
-            self.assertEqual(start_result.success, False)
-
-            end_result = self._io_status_controller_interface.end_tool_contact()
-            self.assertEqual(end_result.success, False)
-        else:
-            start_result = self._io_status_controller_interface.start_tool_contact()
-            self.assertEqual(start_result.success, True)
-
-            end_result = self._io_status_controller_interface.end_tool_contact()
-            self.assertEqual(end_result.success, True)
-
     def test_trajectory_scaled_aborts_on_violation(self, tf_prefix):
         """Test that the robot correctly aborts the trajectory when the constraints are violated."""
         # Construct test trajectory

diff --git a/ur_robot_driver/test/test_common.py b/ur_robot_driver/test/test_common.py
@@ -242,8 +242,6 @@ class IoStatusInterface(
     initial_services={"set_io": SetIO},
     services={
         "resend_robot_program": Trigger,
-        "start_tool_contact": Trigger,
-        "end_tool_contact": Trigger,
         "get_robot_software_version": GetRobotSoftwareVersion,
     },
 ):