From 52766728964fe7b4dd2c8412bb59ad728eb05a50 Mon Sep 17 00:00:00 2001
From: Taiju Yamada <taiju.yamada@mujin.co.jp>
Date: Fri, 1 Jul 2022 09:41:36 +0900
Subject: [PATCH] remove jogging API

---
 .../realtimerobotclient.py                    | 44 -------------------
 1 file changed, 44 deletions(-)

diff --git a/python/mujincontrollerclient/realtimerobotclient.py b/python/mujincontrollerclient/realtimerobotclient.py
index 7a0dcc96..892a1f5c 100644
--- a/python/mujincontrollerclient/realtimerobotclient.py
+++ b/python/mujincontrollerclient/realtimerobotclient.py
@@ -939,50 +939,6 @@ def SetRobotBridgeResume(self, timeout=10, **kwargs):
         taskparameters.update(kwargs)
         return self.ExecuteCommand(taskparameters, timeout=timeout)
 
-    #
-    # jogging related
-    #
-
-    def SetJogModeVelocities(self, movejointsigns, robotname=None, toolname=None, robotspeed=None, robotaccelmult=None, canJogInCheckMode=None, usewebapi=False, timeout=1, fireandforget=False, **kwargs):
-        """
-
-        Args:
-            movejointsigns:
-            robotname (str, optional): Name of the robot
-            toolname (str, optional): Name of the manipulator. Default: self.toolname
-            robotspeed (float, optional): Value in (0,1] setting the percentage of robot speed to move at
-            robotaccelmult (float, optional): Value in (0,1] setting the percentage of robot acceleration to move at
-            canJogInCheckMode: if true, then allow jogging even if in check mode. By default it is false.
-            usewebapi (bool, optional): If True, send command through Web API. Otherwise, through ZMQ. (Default: False)
-            timeout (float, optional):  (Default: 1)
-            fireandforget (bool, optional):  (Default: False)
-            jogtype (str): One of 'joints', 'world', 'robot', 'tool'
-            checkSelfCollisionWhileJogging:
-            force:
-        """
-        taskparameters = {
-            'command': 'SetJogModeVelocities',
-            'movejointsigns': movejointsigns,
-        }
-        if canJogInCheckMode is not None:
-            taskparameters['canJogInCheckMode'] = canJogInCheckMode
-        taskparameters.update(kwargs)
-        return self.ExecuteCommand(taskparameters, robotname=robotname, toolname=toolname, robotspeed=robotspeed, robotaccelmult=robotaccelmult, usewebapi=usewebapi, timeout=timeout, fireandforget=fireandforget)
-
-    def EndJogMode(self, usewebapi=False, timeout=1, fireandforget=False, **kwargs):
-        """
-
-        Args:
-            usewebapi (bool, optional):  (Default: False)
-            timeout (float, optional):  (Default: 1)
-            fireandforget (bool, optional):  (Default: False)
-        """
-        taskparameters = {
-            'command': 'EndJogMode',
-        }
-        taskparameters.update(kwargs)
-        return self.ExecuteCommand(taskparameters, usewebapi=usewebapi, timeout=timeout, fireandforget=fireandforget)
-
     def SetRobotBridgeServoOn(self, servoon, robotname=None, timeout=3, fireandforget=False):
         """