From 2aac4e792dff997fc9b4576106e87a74896908ae Mon Sep 17 00:00:00 2001 From: pazeshun Date: Fri, 27 May 2016 00:05:01 +0900 Subject: [PATCH] Revert a part of #1511 thanks to #1529 --- .../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 dd04103ff..b48d6caf4 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 @@ -527,7 +527,7 @@ (ros::ros-info "[:try-to-pick-object] arm:~a again approach to the object" arm) (let ((temp-av (send *baxter* :angle-vector))) ;; only if robot can solve IK - (if (send *baxter* arm :move-end-pos #f(0 0 -50) :local :rotation-axis :z) + (if (send *baxter* arm :move-end-pos #f(0 0 -50) :local) (send self :angle-vector (send *baxter* :angle-vector) 3000)) (send self :wait-interpolation) (send self :angle-vector (send *baxter* :angle-vector temp-av) 3000) ;; revert baxter