Log motion plan failures

2021-11-09 23:00:59 +01:00 · 2021-11-09 23:00:59 +01:00 · 533e6db06d
commit 533e6db06d
parent 4d5bb8c52c
1 changed files with 3 additions and 1 deletions
--- 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