From 591cc5608d8fc74ed5f9a28332630fe17d667ff0 Mon Sep 17 00:00:00 2001
From: Shun Hasegawa <pazeshun3684@gmail.com>
Date: Thu, 20 Jul 2017 12:19:04 +0900
Subject: [PATCH 1/2] Add missing slot variable

---
 jsk_arc2017_baxter/euslisp/lib/baxter-interface.l | 1 +
 1 file changed, 1 insertion(+)

diff --git a/jsk_arc2017_baxter/euslisp/lib/baxter-interface.l b/jsk_arc2017_baxter/euslisp/lib/baxter-interface.l
index cf2e49e1f..4aa18c7b9 100644
--- a/jsk_arc2017_baxter/euslisp/lib/baxter-interface.l
+++ b/jsk_arc2017_baxter/euslisp/lib/baxter-interface.l
@@ -21,6 +21,7 @@
           finger-flex-
           finger-load-
           prismatic-load-
+          prismatic-vel-
           proximities-
           proximity-init-values-))
 

From f0170f078bc9ff952b9fcc7c62e7b7d7cc6dbea0 Mon Sep 17 00:00:00 2001
From: Shun Hasegawa <pazeshun3684@gmail.com>
Date: Thu, 20 Jul 2017 12:20:54 +0900
Subject: [PATCH 2/2] Fix load direction

---
 jsk_arc2017_baxter/euslisp/lib/baxter-interface.l | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/jsk_arc2017_baxter/euslisp/lib/baxter-interface.l b/jsk_arc2017_baxter/euslisp/lib/baxter-interface.l
index 4aa18c7b9..90010f347 100644
--- a/jsk_arc2017_baxter/euslisp/lib/baxter-interface.l
+++ b/jsk_arc2017_baxter/euslisp/lib/baxter-interface.l
@@ -408,7 +408,7 @@
           ;;       (and (or
           ;;              (and (< (aref finger-av 0) 45) (< (aref finger-av 1) 80))
           ;;              (and (>= (aref finger-av 0) 45) (< (aref finger-av 1) 155)))
-          ;;            (> (send self :get-finger-load arm) 0.55)))
+          ;;            (< (send self :get-finger-load arm) -0.55)))
           (setq pinchingp t)
           (send self :spin-once)
           (cond ((eq type :suction) suctioningp)
@@ -499,7 +499,7 @@
         (pushback
           #'(lambda ()
               (setq finger-load (send self :get-finger-load arm))
-              (if (> finger-load (+ init-load 0.01))
+              (if (< finger-load (- init-load 0.01))
                 (progn
                   (ros::ros-info "[:wait-interpolation-until] Detected finger loaded load: ~a"
                                  finger-load)
@@ -511,7 +511,7 @@
         (pushback
           #'(lambda ()
               (setq finger-load (send self :get-finger-load arm))
-              (if (< finger-load (- init-load 0.01))
+              (if (> finger-load (+ init-load 0.01))
                 (progn
                   (ros::ros-info "[:wait-interpolation-until] Detected finger unloaded load: ~a"
                                  finger-load)