Use wait-interpolation-smooth for objects not to run away from gripper

start-jsk · Jun 22, 2016 · fac02a2 · fac02a2
1 parent 4a66086
commit fac02a2
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/jsk_2016_01_baxter_apc/euslisp/jsk_2016_01_baxter_apc/baxter-interface.l b/jsk_2016_01_baxter_apc/euslisp/jsk_2016_01_baxter_apc/baxter-interface.l
@@ -616,7 +616,7 @@
             )
           )
         )
-      (send self :wait-interpolation)
+      (send self :wait-interpolation-smooth 1000)
       ;; start the vacuum gripper after approaching to the object
       (ros::ros-info "[:try-to-pick-object] arm:~a start vacuum gripper" arm)
       (send self :start-grasp arm)