end-coords-interpolated angle-vector is very fast

[pazeshun]

Currently, specifying :end-coords-interpolation t to :angle-vector of *ri* makes robot move very fast:

1.irteusgl$ (cobotta-oss-init)
PQP Error! EndModel() called on model with no triangles
PQP Error! EndModel() called on model with no triangles
nil
2.irteusgl$ (send *cobotta* :angle-vector (send *ri* :state :potentio-vector :wait-until-update t))
#f(-10.1727 -10.7567 78.2396 6.63316 -36.2004 -1.25248)
3.irteusgl$ (progn (send *ri* :angle-vector (send *cobotta* :arm :move-end-pos #f(0 0 5) :world) 3000) (bench (send *ri* :wait-interpolation)))
;; time -> 3.01396[s]
(nil)
4.irteusgl$ (progn (send *ri* :angle-vector (send *cobotta* :arm :move-end-pos #f(0 0 5) :world) 3000 nil 0 :end-coords-interpolation t) (bench (send *ri* :wait-interpolation)))
;; time -> 0.313594[s]
(nil)

[pazeshun]

I already found a solution. Please wait for a while for PR.

[pazeshun]

euslisp/jskeus#625 solves this issue:

EusLisp 9.29(7b154531 1.2.5) for Linux64 created on jsk-moonshot-laptop(Fri Oct 14 22:08:22 JST 2022)
roseus ;; loading roseus("1.7.5-40-g4d45a0d") on euslisp((9.29 jsk-moonshot-laptop Fri Oct 14 22:08:22 JST 2022 7b154531 1.2.5))
eustf roseus_c_util 1.irteusgl$ (cobotta-oss-init)
PQP Error! EndModel() called on model with no triangles
PQP Error! EndModel() called on model with no triangles
nil
2.irteusgl$ (send *cobotta* :angle-vector (send *ri* :state :potentio-vector :wait-until-update t))
#f(-10.1914 -9.17385 73.1375 7.25531 -32.6875 -1.93148)
3.irteusgl$ (progn (send *ri* :angle-vector (send *cobotta* :arm :move-end-pos #f(0 0 5) :world) 3000) (bench (send *ri* :wait-interpolation)))
;; time -> 3.05912[s]
(nil)
4.irteusgl$ (progn (send *ri* :angle-vector (send *cobotta* :arm :move-end-pos #f(0 0 5) :world) 3000 nil 0 :end-coords-interpolation t) (bench (send *ri* :wait-interpolation)))
;; time -> 3.00764[s]
(nil)

[pazeshun]

Until euslisp/jskeus#625 is merged and released, you should pass float value (e.g., 3000.0) to :angle-vector when you want to use :end-coords-interpolation t