No need avoid-shelf-pose using moveit

start-jsk · Aug 8, 2017 · ae2ff39 · ae2ff39
1 parent 805dfad
commit ae2ff39
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/jsk_arc2017_baxter/euslisp/lib/pick-interface.l b/jsk_arc2017_baxter/euslisp/lib/pick-interface.l
@@ -475,8 +475,7 @@
           (when moveit-p- (send self :add-cardboard-scene target-cardboard-))))))
   (:return-from-place-object (arm)
     (let (avs)
-      (setq avs (list (send *baxter* :avoid-shelf-pose arm (if (eq arm :larm) :d :f))))
-      (pushback (send *baxter* :arc-reset-pose arm) avs)
+      (setq avs (list (send *baxter* :arc-reset-pose arm)))
       (send *ri* :angle-vector-sequence avs 5000 (send *ri* :get-arm-controller arm) 0)
       (send *ri* :wait-interpolation)
       (if (eq grasp-style- :pinch)