This module implements Task 4.4, to transfer an object from one hand to the other. It first localised the object in the robots hand. Then, the robot selects a pose for the second hand in which the object can be successfully transferred. The second hand grasps the object. Once a stable grasp is achieved, the first hand releases the object.
Lua script improvements have been successfully tested on the robot.
Waiting for the addiction of check functions in stableGrasp module ( @massimoregoli ).
Lua script have been partially improved. To be tested on the robot.