diff --git a/pr2eus/robot-interface.l b/pr2eus/robot-interface.l
index 4b8bfdbc4..025f1e2ae 100644
--- a/pr2eus/robot-interface.l
+++ b/pr2eus/robot-interface.l
@@ -644,7 +644,8 @@ Return value is a list of interpolatingp for all controllers, so (null (some #'i
           (send self :spin-once) ;; need to wait for feedback
           (send self :ros-wait 0.005))))
     (while (null (send self :interpolating-smoothp time-to-finish ctype))
-      (send self :ros-wait 0.005)))
+      (send self :ros-wait 0.005))
+    (send-all controller-actions :interpolatingp))
   (:interpolating-smoothp (time-to-finish &optional (ctype)) ;; controller-type
 "Check if the last sent motion will stop for next time-to-finish [msec]"
    (when (send self :simulation-modep)