From b555aece9c01f8cf19f338d2e41fbfd9c75b2161 Mon Sep 17 00:00:00 2001
From: "Isaac I.Y. Saito" <130s@users.noreply.github.com>
Date: Fri, 28 Apr 2017 21:48:32 -0700
Subject: [PATCH] Revert "[NXO Client] Overridden getRTCList now simply calls a
 method from the parent class, HIRONX"

---
 .../src/nextage_ros_bridge/nextage_client.py   | 18 ++++++++++--------
 1 file changed, 10 insertions(+), 8 deletions(-)

diff --git a/nextage_ros_bridge/src/nextage_ros_bridge/nextage_client.py b/nextage_ros_bridge/src/nextage_ros_bridge/nextage_client.py
index 61a53bb0..58a53813 100755
--- a/nextage_ros_bridge/src/nextage_ros_bridge/nextage_client.py
+++ b/nextage_ros_bridge/src/nextage_ros_bridge/nextage_client.py
@@ -330,18 +330,20 @@ def getRTCList(self):
         '''
         Overwriting HrpsysConfigurator.getRTCList
         Returning predefined list of RT components.
-
-        As of March 2016, this method internally calls HIRONX.getRTCList() and
-        returns what it returns. Although we could simply remove this method
-        from NextageClient, we still keep it; it'd be easier
-        to modify an existing method than to add a new overridden method,
-        in case we might want to define RTC return list differently from HIRONX.
-
         @rtype [[str]]
         @return List of available components. Each element consists of a list
                  of abbreviated and full names of the component.
         '''
-        return HIRONX.getRTCList(self)
+        return [
+            ['seq', "SequencePlayer"],
+            ['sh', "StateHolder"],
+            ['fk', "ForwardKinematics"],
+            ['el', "SoftErrorLimiter"],
+            # ['co', "CollisionDetector"],
+            # ['sc', "ServoController"],
+            ['ic', "ImpedanceController"],
+            ['log', "DataLogger"]
+            ]
 
     def goInitial(self, tm=7, wait=True, init_pose_type=0):
         '''