moesenle/cram_pr2 — pull request #24 by fairlight1337 (2012-10-18 11:22:37+00:00)
Title: Fixed grasping that broke the demo

The demo (or grasping in general) was broken due to a faulty prolog predicate. Due to this, a standard grasping function was called which messed up the program flow. Besides this, variable names are corrected, checks for gripper sides were moved to the correct location and the overall code readability and reliability was increased.