Gripper now checks if object is not already grasped.

ltinphan · Jul 1, 2019 · 5aafad2 · 5aafad2
1 parent 4e9bfe1
commit 5aafad2
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/pyrep/robots/end_effectors/gripper.py b/pyrep/robots/end_effectors/gripper.py
@@ -35,7 +35,8 @@ def grasp(self, obj: Object) -> bool:
         :return: True if the object was detected/grasped.
         """
         detected = self._proximity_sensor.is_detected(obj)
-        if detected:
+        # Check if detected and that we are not already grasping it.
+        if detected and obj not in self._grasped_objects:
             self._grasped_objects.append(obj)
             self._old_parents.append(obj.get_parent())
             obj.set_parent(self._attach_point, keep_in_place=True)