From 09c3861d86d8b80021f2092bf0bad805a448a947 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 16 Dec 2022 00:22:31 +0900 Subject: [PATCH] fix &rest args position --- jsk_baxter_robot/baxtereus/baxter-softhand-interface.l | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/jsk_baxter_robot/baxtereus/baxter-softhand-interface.l b/jsk_baxter_robot/baxtereus/baxter-softhand-interface.l index 647575af31..190b8460e3 100644 --- a/jsk_baxter_robot/baxtereus/baxter-softhand-interface.l +++ b/jsk_baxter_robot/baxtereus/baxter-softhand-interface.l @@ -42,14 +42,14 @@ ((equal arm :arms) (list lgripper-interface rgripper-interface)) (t nil))) - (:start-grasp (&optional (arm :arms) &key (rotate-angle nil) &rest args &allow-other-keys) + (:start-grasp (&optional (arm :arms) &rest args &key (rotate-angle nil) &allow-other-keys) (cond ((equal arm :arms) (let ((larm-start-grasp-p (send* self :start-grasp-step :larm :rotate-angle rotate-angle args)) (rarm-start-grasp-p (send* self :start-grasp-step :rarm :rotate-angle rotate-angle args))) (and larm-start-grasp-p rarm-start-grasp-p))) (t (send* self :start-grasp-step arm :rotate-angle rotate-angle args)))) - (:start-grasp-step (arm &key (rotate-angle nil) &rest args &allow-other-keys) + (:start-grasp-step (arm &rest args &key (rotate-angle nil) &allow-other-keys) (cond ((equal (send self :get-gripper-type arm) :parallel) (send-super* :start-grasp arm args)) @@ -57,14 +57,14 @@ (equal (send self :get-gripper-type arm) :softhand-v2)) (send (send self :get-gripper-interface arm) :start-grasp :rotate-angle rotate-angle)) (t nil))) - (:stop-grasp (&optional (arm :arms) &key (rotate-angle nil) &rest args &allow-other-keys) + (:stop-grasp (&optional (arm :arms) &rest args &key (rotate-angle nil) &allow-other-keys) (cond ((equal arm :arms) (let ((larm-stop-grasp-p (send* self :stop-grasp-step :larm :rotate-angle rotate-angle args)) (rarm-stop-grasp-p (send* self :stop-grasp-step :rarm :rotate-angle rotate-angle args))) (and larm-stop-grasp-p rarm-stop-grasp-p))) (t (send* self :stop-grasp-step arm args)))) - (:stop-grasp-step (arm &key (rotate-angle nil) &rest args &allow-other-keys) + (:stop-grasp-step (arm &rest args &key (rotate-angle nil) &allow-other-keys) (cond ((equal (send self :get-gripper-type arm) :parallel) (send-super* :stop-grasp arm args))