diff --git a/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py b/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py
index c0c47746..8f9d65a2 100644
--- a/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py
+++ b/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py
@@ -1037,26 +1037,6 @@ def startImpedance(self, arm, **kwargs):
                        (which you can find by "self.hrpsys_version" command).
                        For instance, if your hrpsys is 315.10.1, refer to
                        "startImpedance_315_4" method.
-        @change: (NOTE: This "change" block is a duplicate with the PR in the
-                 upstream https://github.com/fkanehiro/hrpsys-base/pull/1120.
-                 Once it gets merged this block should be removed to avoid
-                 duplicate maintenance effort.)
-
-                 From 315.2.0 onward, following arguments are dropped and can
-                 be set by self.seq_svc.setWrenches instead of this method.
-                 See an example at https://github.com/fkanehiro/hrpsys-base/pull/434/files#diff-6204f002204dd9ae80f203901f155fa9R44:
-                 - ref_force[fx, fy, fz] (unit: N) and
-                   ref_moment[tx, ty, tz] (unit: Nm) can be set via
-                   self.seq_svc.setWrenches. For example:
-
-                   self.seq_svc.setWrenches([0, 0, 0, 0, 0, 0,
-                                             fx, fy, fz, tx, ty, tz,
-                                             0, 0, 0, 0, 0, 0,
-                                             0, 0, 0, 0, 0, 0,])
-
-                   setWrenches takes 6 values per sensor, so the robot in
-                   the example above has 4 sensors where each line represents
-                   a sensor. See this link (https://github.com/fkanehiro/hrpsys-base/pull/434/files) for a concrete example.
         '''
         if StrictVersion(self.hrpsys_version) < StrictVersion('315.2.0'):
             self.startImpedance_315_1(arm, **kwargs)