diff --git a/wpb_home_behaviors/src/wpb_home_grab_server.cpp b/wpb_home_behaviors/src/wpb_home_grab_server.cpp
index cfe78a1..5746816 100644
--- a/wpb_home_behaviors/src/wpb_home_grab_server.cpp
+++ b/wpb_home_behaviors/src/wpb_home_grab_server.cpp
@@ -209,6 +209,9 @@ void ProcCloudCB(const sensor_msgs::PointCloud2 &input)
         segmentation.setMethodType(pcl::SAC_RANSAC);
         segmentation.setDistanceThreshold(0.005);
         segmentation.setOptimizeCoefficients(true);
+        Eigen::Vector3f axis = Eigen::Vector3f(0.0,1.0,0.0);
+        segmentation.setAxis(axis);
+        segmentation.setEpsAngle(  10.0f * (M_PI/180.0f) );
         pcl::PointIndices::Ptr planeIndices(new pcl::PointIndices);
         segmentation.segment(*planeIndices, *coefficients);
         //ROS_INFO_STREAM("Num_Of_Planes = " << planeIndices->indices.size());