The "grab" function only works when the hand (right or left) is not activated (disabled in the $ICUB_ROOT/app/simConfig/conf/iCub_patrs_activation.ini.
Hence the "mysterious" message: hand must be disabled.
This creates a virtual joint between the hand selected and the object therefore once set the object will be "glued" to the hand.
This was added for people who did not want to actually grasp an object with all fingers, but still move objects around with the hand.
From: valerio.sperati [[hidden email]]
Sent: Wednesday, September 05, 2012 11:45 AM
To: [hidden email] Subject: [rc-hackers] iCubSImulator and Grab function
Please, can anyone explain me how 'grab' function works in iCubSimulator?
The documentation in Simulator_README is very poor (for me!).
I tryied the following: I created a static box in front of the icub:
world mk sbox 0.1 0.1 0.1 -0.1 0.65 0.25 0 0 1
and then I tried to grab it through right hand
world grab sbox 1 right 1
but received the message:
Response: [fail] "right hand must be disabled, cannot use grab with fingers"
Now, this message is mysterious for me :)
What do I have to expect from 'grab' function?