Merge pull request start-jsk#85 from mmurooka/keep-co-during-servo-on

Merged.
itohdak · Apr 2, 2015 · bf0dac9 · bf0dac9
2 parents be63756 + 136c0eb
commit bf0dac9
Showing 1 changed file with 0 additions and 4 deletions.
diff --git a/jsk_hrp2_ros_bridge/scripts/jsk_hrp2_setup.py b/jsk_hrp2_ros_bridge/scripts/jsk_hrp2_setup.py
@@ -188,8 +188,6 @@ def servoOn(self, jname='all', destroy=1, tm=3):
         for jgroups in self.Groups:
             self.seq_svc.addJointGroup(jgroups[0], jgroups[1])
         # move to idle mode for filter type RTCs
-        if self.co_svc:
-            self.co_svc.disableCollisionDetection()
         for rtc in self.getJointAngleControllerList():
             rtc.stop();
             rtc.start();
@@ -525,8 +523,6 @@ def servoOnWithResetPose(self):
             self.seq_svc.setJointAngles(self.hrp2ResetPose(), 3.0)
             print "go to reset-pose"
             self.seq_svc.waitInterpolation()
-            if self.co_svc:
-                self.co_svc.enableCollisionDetection()
             if self.ROBOT_NAME.find("HRP2JSKNT") != -1 and self.hc_svc != None:
                 print "hand joint calib"
                 self.hc_svc.handServoOn()