Merge pull request #415 from knorth55/add-gain-key

[pr2eus] add gain key in :stop-grasp
jsk-ros-pkg · Dec 16, 2019 · 6ca4441 · 6ca4441
2 parents bb7f201 + 934e8e9
commit 6ca4441
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/pr2eus/pr2-interface.l b/pr2eus/pr2-interface.l
@@ -350,9 +350,9 @@ Example: (send self :gripper :rarm :position) => 0.00"
      ))
 
   (:stop-grasp
-   (&optional (arm :arms) &key (wait nil))
+   (&optional (arm :arms) &key ((:gain g) 0.03) (wait nil))
    (prog1
-       (send self :move-gripper arm 0.09 :wait wait)
+       (send self :move-gripper arm 0.09 :effort (* 2000 g) :wait wait)
      (unless joint-action-enable
        (dolist (a (if (eq arm :arms) '(:larm :rarm) (list arm)))
          (dolist (obj (send robot a :end-coords :descendants))