minor: remove unnecessary scipy and etc.

Author: kennkhr

extensions/rcs_xarm7/src/rcs_xarm7/env_cartesian_control.py

@@ -70,8 +70,6 @@ def main():
                 if truncated or terminated:
                     logger.info("Truncated or terminated!")
                     return
-                print(obs)
-                #sleep(2.0)
             for _ in range(10):
                 # move 1cm in negative x direction (backward) and open gripper
                 act = {"tquat": [-0.01, 0, 0, 0, 0, 0, 1], "gripper": 1}

extensions/rcs_xarm7/src/rcs_xarm7/hw.py

@@ -7,8 +7,6 @@
 
 from rcs import common
 
-from scipy.spatial.transform import Rotation as R
-
 
 @dataclass(kw_only=True)
 class XArm7Config(common.RobotConfig):
@@ -37,21 +35,16 @@ def __init__(self, ip: str):
             center_of_gravity=self._config.payload_tcp,
             wait=True,
         )
-
-    # def get_base_pose_in_world_coordinates(self) -> Pose: ...
 
     def get_cartesian_position(self) -> common.Pose:
         code, xyzrpy = self._xarm.get_position(is_radian=True)
         if code != 0:
             raise RuntimeError("couldn't get cartesian position from xarm")
 
-        translation = np.array(xyzrpy[:3], dtype=np.float64).reshape((3, 1)) * 0.001
+        translation_meter = np.array(xyzrpy[:3], dtype=np.float64) * 0.001
         rpy = xyzrpy[3:]
-        quat = R.from_euler('xyz', rpy).as_quat()  # [x, y, z, w]
-        quat = np.array(quat, dtype=np.float64).reshape((4, 1))
 
-        # return common.Pose(quaternion=quat, translation=translation)
-        return common.Pose(rpy_vector=rpy, translation=translation)
+        return common.Pose(rpy_vector=rpy, translation=translation_meter)
 
     def get_ik(self) -> common.IK | None:
         return self.ik
@@ -92,8 +85,3 @@ def __enter__(self):
 
     def __exit__(self, exc_type, exc_value, traceback):
         self._xarm.disconnect()
-
-
-    # def to_pose_in_robot_coordinates(self, pose_in_world_coordinates: Pose) -> Pose: ...
-    # def to_pose_in_world_coordinates(self, pose_in_robot_coordinates: Pose) -> Pose: ...
-