gheorghelisca/cram_pr2 — comment on commit cf965d03eeaff3e6d46c3eaedd67b23120bec782
File: pr2_manipulation_process_module/src/process-module.lisp line 646
By moesenle:

I would write the code much shorter here:

(let ((trajectory (merge-trajectories (ik->trajectory (lazy-car (get-ik ...)))
(ik->trajectory (lazy-car (get-ik ...))))))
(execute-arm-trajectory))

I feel like that's better readable, in particular because the function calls are much more self-explanatory than some abbreviated variable names.