diff --git a/pr2eus/robot-interface.l b/pr2eus/robot-interface.l index dbf92401..cdc4fe87 100644 --- a/pr2eus/robot-interface.l +++ b/pr2eus/robot-interface.l @@ -1331,7 +1331,7 @@ Return value is a list of interpolatingp for all controllers, so (null (some #'i ) ) (:eus-mannequin-mode - (tmp-robot limb &key ((:time tm) 1000) ((:viewer vwr) *viewer*)) + (tmp-robot limb &key ((:time tm) 1000) ((:viewer vwr) *viewer*) ((:min-time mtm) 1.0)) "Euslisp version mannequin mode. In every loop, :angle-vector is continuously updated. If you want to stop this mode, press Enter. @@ -1345,7 +1345,7 @@ Return value is a list of interpolatingp for all controllers, so (null (some #'i (send self :state) (send tmp-robot limb :angle-vector (send robot limb :angle-vector)) (send vwr :draw-objects) - (send self :angle-vector (send tmp-robot :angle-vector) tm) + (send self :angle-vector (send tmp-robot :angle-vector) tm controller-type 0 :min-time mtm) (send self :wait-interpolation) ) (warn ";; Stop Euslisp mannequin mode.~%")