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personalrobotics / prpy

Python utilities used by the Personal Robotics Laboratory.
BSD 3-Clause "New" or "Revised" License
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Fixed issue with CloseHand() for ADA in sim #254

Closed Stefanos19 closed 8 years ago

mkoval commented 8 years ago

Note that MoveHand function ignores collisions and will always terminate with the hand fully closed, even if it is penetrating an object. The robot.task_manipulation.CloseFingers() function simulates closing the fingers until they are in collision. This is why we have separate functions for CloseFingers and OpenFingers.

mkoval commented 8 years ago

@Stefanos19 Can you take a look at my comment above?

Stefanos19 commented 8 years ago

I think the issue is that the command: robot.task_manipulation.prob.SendCommand('CloseFingers') returns the following error: [grasperplanner.cpp:258 PlanPath] no objects in environment

mkoval commented 8 years ago

I will merge this for now. However, it is really not correct - we should figure out why CloseFingers is failing.

@Stefanos19 Please make an issue about this.