Remove the RBT based jaco examples

Tomato1107 · Jul 29, 2019 · d92d38e · d92d38e
1 parent 329a01c
commit d92d38e
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Showing 7 changed files with 1 addition and 725 deletions.
diff --git a/examples/kinova_jaco_arm/BUILD.bazel b/examples/kinova_jaco_arm/BUILD.bazel
@@ -12,20 +12,6 @@ package(
     default_visibility = [":__subpackages__"],
 )
 
-drake_cc_library(
-    name = "jaco_common",
-    srcs = [
-        "jaco_common.cc",
-    ],
-    hdrs = [
-        "jaco_common.h",
-    ],
-    deps = [
-        "//attic/multibody:rigid_body_tree",
-        "//attic/multibody/parsers",
-    ],
-)
-
 drake_cc_library(
     name = "jaco_lcm",
     srcs = ["jaco_lcm.cc"],
@@ -64,74 +50,6 @@ drake_cc_binary(
     ],
 )
 
-drake_cc_binary(
-    name = "run_passive_jaco_demo",
-    srcs = ["run_passive_jaco_demo.cc"],
-    add_test_rule = 1,
-    data = [
-        "//manipulation/models/jaco_description:models",
-    ],
-    test_rule_args = ["--simulation_sec=0.1"],
-    deps = [
-        ":jaco_common",
-        "//attic/multibody:rigid_body_tree_construction",
-        "//attic/multibody/rigid_body_plant",
-        "//attic/multibody/rigid_body_plant:drake_visualizer",
-        "//common:find_resource",
-        "//common:text_logging_gflags",
-        "//lcm",
-        "//systems/analysis:simulator",
-        "//systems/primitives:constant_vector_source",
-        "@gflags",
-    ],
-)
-
-drake_cc_binary(
-    name = "run_setpose_jaco_demo",
-    srcs = ["run_setpose_jaco_demo.cc"],
-    add_test_rule = 1,
-    data = [
-        "//manipulation/models/jaco_description:models",
-    ],
-    test_rule_args = ["--simulation_sec=0.1"],
-    deps = [
-        ":jaco_common",
-        "//attic/multibody:rigid_body_tree_construction",
-        "//attic/multibody/rigid_body_plant",
-        "//attic/multibody/rigid_body_plant:drake_visualizer",
-        "//attic/systems/controllers:rbt_inverse_dynamics_controller",
-        "//common:find_resource",
-        "//lcm",
-        "//systems/analysis:simulator",
-        "//systems/primitives:constant_vector_source",
-        "@gflags",
-    ],
-)
-
-drake_cc_binary(
-    name = "run_controlled_jaco_demo",
-    srcs = ["run_controlled_jaco_demo.cc"],
-    add_test_rule = 1,
-    data = [
-        "//manipulation/models/jaco_description:models",
-    ],
-    test_rule_args = ["--simulation_sec=0.1"],
-    deps = [
-        ":jaco_common",
-        "//attic/multibody:inverse_kinematics",
-        "//attic/multibody:rigid_body_tree_construction",
-        "//attic/multibody/rigid_body_plant",
-        "//attic/multibody/rigid_body_plant:drake_visualizer",
-        "//attic/systems/controllers:rbt_inverse_dynamics_controller",
-        "//common:find_resource",
-        "//common/trajectories:piecewise_polynomial",
-        "//lcm",
-        "//systems/analysis:simulator",
-        "//systems/primitives:trajectory_source",
-        "@gflags",
-    ],
-)
-
 # === test/ ===
 
 drake_cc_googletest(

diff --git a/examples/kinova_jaco_arm/README.md b/examples/kinova_jaco_arm/README.md
@@ -32,24 +32,7 @@ bazel-bin/tools/drake_visualizer
 
 The following examples of a simulated jaco are present:
 
-```
-bazel-bin/examples/kinova_jaco_arm/run_passive_jaco_demo
-```
-
-Simulates a Jaco arm with no control or gravity compensation.
-
-```
-bazel-bin/examples/kinova_jaco_arm/run_setpose_jaco_demo
-```
-
-Simulates a Jaco arm holding a set pose.
-
-```
-bazel-bin/examples/kinova_jaco_arm/run_controlled_jaco_demo
-```
-
-Demonstrates planning a trajectory for a Jaco arm using inverse
-kinematics and simulating an arm following that trajectory.
+None
 
 ## Control
 

diff --git a/examples/kinova_jaco_arm/jaco_common.cc b/examples/kinova_jaco_arm/jaco_common.cc
diff --git a/examples/kinova_jaco_arm/jaco_common.h b/examples/kinova_jaco_arm/jaco_common.h