Add :time key to :stop-grasp

pazeshun · Dec 4, 2018 · 8447d10 · 8447d10
1 parent 0b9949b
commit 8447d10
Showing 1 changed file with 6 additions and 9 deletions.
diff --git a/hrpsys_ros_bridge_tutorials/euslisp/hironxjsk-interface.l b/hrpsys_ros_bridge_tutorials/euslisp/hironxjsk-interface.l
@@ -332,15 +332,12 @@
           (:rarm (setq arm :rhand))
           (:larm (setq arm :lhand)))
     (send self :hand-width arm 0 :time time :effort effort))
-  (:stop-grasp (&optional (arm :arms) &key effort)
-    (cond ((eq arm :rarm)
-           (send self :hand-width :rhand 100 :effort effort))
-          ((eq arm :larm)
-           (send self :hand-width :lhand 100 :effort effort))
-          ((eq arm :arms)
-           (send self :hand-width :rhand 100 :effort effort)
-           (send self :hand-width :lhand 100 :effort effort))
-          (t (error ";; No such arm: ~A~%." arm)))))
+  (:stop-grasp (&optional (arm :arms) &key (time 1000) effort)
+    (case arm
+          (:arms (setq arm :hands))
+          (:rarm (setq arm :rhand))
+          (:larm (setq arm :lhand)))
+    (send self :hand-width arm 100 :time time :effort effort))
 
 (defun hironxjsk-init (&rest args)
   (if (not (boundp '*ri*))