From fac02a26d2c1b2d2aa5ab8fe6b85460a8aa27eb6 Mon Sep 17 00:00:00 2001 From: pazeshun Date: Sat, 18 Jun 2016 22:51:04 +0900 Subject: [PATCH] Use wait-interpolation-smooth for objects not to run away from gripper --- .../euslisp/jsk_2016_01_baxter_apc/baxter-interface.l | 2 +- 1 file changed, 1 insertion(+), 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 index 5a2de0427..5940f3702 100644 --- 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)