moesenle/cram_pr2 — pull request #6 by fairlight1337 (2012-08-01 07:35:16+00:00)
Title: Introduced functions for grasping objects with (relative) handles

Object designators that have handles specified relative to their coordinate origin can be grasped automatically. Pregrasp-pose, grasp-pose and lift-pose are calculated relatively to the handle's pose and the object's pose.