moesenle/cram_pr2 — pull request #13 by fairlight1337 (2012-10-05 09:46:03+00:00)
Title: Added checks for valid grasp trajectories for object handles

The gripper poses considered when grasping an object did not take the actual grasp, but only the pregrasp pose into account. Also, lowered the gripper distance when going into pregrasp.