From 503819209d16c5f323de412a6c79f8ff90285637 Mon Sep 17 00:00:00 2001
From: SebastianEbert <sebastian.ebert@tu-dresden.de>
Date: Mon, 8 Nov 2021 18:39:49 +0100
Subject: [PATCH] fixed width check

---
 src/grasping/grasp_util.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/grasping/grasp_util.cpp b/src/grasping/grasp_util.cpp
index 6439943..e1973ec 100644
--- a/src/grasping/grasp_util.cpp
+++ b/src/grasping/grasp_util.cpp
@@ -183,7 +183,7 @@ GraspUtil::pickFromSide(moveit::planning_interface::MoveGroupInterface &move_gro
 
     if(object_to_pick.type == shape_msgs::SolidPrimitive::CYLINDER){
 
-        if(object_to_pick.dimensions[0] <= 0.08){
+        if(object_to_pick.dimensions[1] >= 0.08){
             ROS_ERROR("Could not grasp: Cylinder object to big.");
             return false;
         }
-- 
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