From 3cbe1097ebfc59f3e9fb79c9f4cb68a21cb4b587 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Tue, 24 Nov 2020 15:12:48 +0100
Subject: [PATCH] update internal "grasped" state setting. still very bad.

---
 src/grasping/grasp_service.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/grasping/grasp_service.cpp b/src/grasping/grasp_service.cpp
index 5da6b4a..e5bbcc6 100644
--- a/src/grasping/grasp_service.cpp
+++ b/src/grasping/grasp_service.cpp
@@ -40,8 +40,6 @@ bool pickObject(panda_grasping::PickObject::Request &req,
 
     if (!grasping_state::object_picked) {
 
-        grasping_state::object_picked = true;
-
         EnvironmentUtil env_util;
         GraspUtil grasp_util;
 
@@ -79,6 +77,7 @@ bool pickObject(panda_grasping::PickObject::Request &req,
             return false;
         }
 
+        grasping_state::object_picked = true;
         res.success = true;
         return true;
     }
-- 
GitLab