From 533e6db06d78542fac27aec28786bd8ab6bca1d5 Mon Sep 17 00:00:00 2001
From: Michel Breyer <michel.p.breyer@gmail.com>
Date: Tue, 9 Nov 2021 23:00:59 +0100
Subject: [PATCH] Log motion plan failures

---
 src/active_grasp/controller.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/active_grasp/controller.py b/src/active_grasp/controller.py
index fe84b39..3fa7e44 100644
--- a/src/active_grasp/controller.py
+++ b/src/active_grasp/controller.py
@@ -151,7 +151,9 @@ class GraspController:
             self.moveit.gotoL(T_base_retreat)
             rospy.sleep(1.0)  # Wait to see whether the object slides out of the hand
             success = self.gripper.read() > 0.002
-        return "succeeded" if success else "failed"
+            return "succeeded" if success else "failed"
+        else:
+            return "no_motion_plan_found"
 
     def create_collision_scene(self):
         # Segment support surface