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[pr2eus] The default value of min-time (1.0) in angle-vector is not adequate for eus-mannequin-mode. #499

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[pr2eus] The default value of min-time (1.0) in angle-vector is not adequate for eus-mannequin-mode. #499

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4 changes: 2 additions & 2 deletions pr2eus/robot-interface.l
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Original file line number Diff line number Diff line change
Expand Up @@ -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.
Expand All @@ -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.~%")
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