{"action":"created","comment":{"url":"https://api.github.com/repos/RobotLocomotion/director/pulls/comments/40933189","id":40933189,"diff_hunk":"@@ -706,6 +708,15 @@ def run(self):\n         side = self.properties.getPropertyEnumValue('Side').lower()\n         self.getHandDriver(side).sendCustom(self.properties.getProperty('Amount'), 100, 100, self.properties.getProperty('Mode'))\n \n+        if self.properties.getProperty('Check status'):\n+            responseChannel = 'GRASPING_STATE'\n+            responseMessageClass = lcmdrc.boolean_t\n+            grasping_state = lcmUtils.MessageResponseHelper(responseChannel, responseMessageClass).waitForResponse(timeout=7000)\n+            if grasping_state is not None and grasping_state.data == 1:\n+                self.statusMessage = \"Grasping successful\"\n+            else:\n+                self.fail(\"No object in hand\")\n+","path":"src/python/ddapp/tasks/robottasks.py","position":28,"original_position":28,"commit_id":"e5fb00d38f7b926775cc1f9075244b5b9b2a4aa8","original_commit_id":"e5fb00d38f7b926775cc1f9075244b5b9b2a4aa8","user":{"login":"iamwolf","id":1664508,"avatar_url":"https://avatars.githubusercontent.com/u/1664508?v=3","gravatar_id":"","url":"https://api.github.com/users/iamwolf","html_url":"https://github.com/iamwolf","followers_url":"https://api.github.com/users/iamwolf/followers","following_url":"https://api.github.com/users/iamwolf/following{/other_user}","gists_url":"https://api.github.com/users/iamwolf/gists{/gist_id}","starred_url":"https://api.github.com/users/iamwolf/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/iamwolf/subscriptions","organizations_url":"https://api.github.com/users/iamwolf/orgs","repos_url":"https://api.github.com/users/iamwolf/repos","events_url":"https://api.github.com/users/iamwolf/events{/privacy}","received_events_url":"https://api.github.com/users/iamwolf/received_events","type":"User","site_admin":false},"body":"Great idea! Would this have the WaitForGraspingState task as a subtask of this one? I.e. so one property in the Grasping task can determine whether to wait or not?","created_at":"2015-10-01T16:16:32Z","updated_at":"2015-10-01T16:16:32Z","html_url":"https://github.com/RobotLocomotion/director/pull/81#discussion_r40933189","pull_request_url":"https://api.github.com/repos/RobotLocomotion/director/pulls/81","_links":{"self":{"href":"https://api.github.com/repos/RobotLocomotion/director/pulls/comments/40933189"},"html":{"href":"https://github.com/RobotLocomotion/director/pull/81#discussion_r40933189"},"pull_request":{"href":"https://api.github.com/repos/RobotLocomotion/director/pulls/81"}}},"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/director/pulls/81","id":46541803,"html_url":"https://github.com/RobotLocomotion/director/pull/81","diff_url":"https://github.com/RobotLocomotion/director/pull/81.diff","patch_url":"https://github.com/RobotLocomotion/director/pull/81.patch","issue_url":"https://api.github.com/repos/RobotLocomotion/director/issues/81","number":81,"state":"open","locked":false,"title":"Use hand grasping status in tabledemo (no more human acknowledgement required)","user":{"login":"iamwolf","id":1664508,"avatar_url":"https://avatars.githubusercontent.com/u/1664508?v=3","gravatar_id":"","url":"https://api.github.com/users/iamwolf","html_url":"https://github.com/iamwolf","followers_url":"https://api.github.com/users/iamwolf/followers","following_url":"https://api.github.com/users/iamwolf/following{/other_user}","gists_url":"https://api.github.com/users/iamwolf/gists{/gist_id}","starred_url":"https://api.github.com/users/iamwolf/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/iamwolf/subscriptions","organizations_url":"https://api.github.com/users/iamwolf/orgs","repos_url":"https://api.github.com/users/iamwolf/repos","events_url":"https://api.github.com/users/iamwolf/events{/privacy}","received_events_url":"https://api.github.com/users/iamwolf/received_events","type":"User","site_admin":false},"body":"This series of commits allows to run the tabledemo even more autonomous and recognise whether the hand has grasped something - i.e. it does not require human verification of that the hand is closed and in fact has an item within its fingers.\r\n\r\n- Added a new status topic ``GRASPING_STATE`` (boolean_t) that records whether an item has been grasped (``true``) or the hand was successfully opened (``false``)\r\n- Implemented the above as a grasping task in robottasks -- waits (blocking) until a message is received or fails with a timeout (and then blocks further execution of the task tree)\r\n- Added an addGrasping function for this\r\n- Deactivated for humanoids and all others that dont have this message implemented yet\r\n- Changed a few flags to check whether we are dealing with kukas rather than with a standard fixed base","created_at":"2015-10-01T15:53:20Z","updated_at":"2015-10-01T16:16:32Z","closed_at":null,"merged_at":null,"merge_commit_sha":"5d5c1ada82e1f5ea2eb1c6c61dd784966680930f","assignee":null,"milestone":null,"commits_url":"https://api.github.com/repos/RobotLocomotion/director/pulls/81/commits","review_comments_url":"https://api.github.com/repos/RobotLocomotion/director/pulls/81/comments","review_comment_url":"https://api.github.com/repos/RobotLocomotion/director/pulls/comments{/number}","comments_url":"https://api.github.com/repos/RobotLocomotion/director/issues/81/comments","statuses_url":"https://api.github.com/repos/RobotLocomotion/director/statuses/e5fb00d38f7b926775cc1f9075244b5b9b2a4aa8","head":{"label":"mitdrc:new-tabledemo","ref":"new-tabledemo","sha":"e5fb00d38f7b926775cc1f9075244b5b9b2a4aa8","user":{"login":"mitdrc","id":6392416,"avatar_url":"https://avatars.githubusercontent.com/u/6392416?v=3","gravatar_id":"","url":"https://api.github.com/users/mitdrc","html_url":"https://github.com/mitdrc","followers_url":"https://api.github.com/users/mitdrc/followers","following_url":"https://api.github.com/users/mitdrc/following{/other_user}","gists_url":"https://api.github.com/users/mitdrc/gists{/gist_id}","starred_url":"https://api.github.com/users/mitdrc/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mitdrc/subscriptions","organizations_url":"https://api.github.com/users/mitdrc/orgs","repos_url":"https://api.github.com/users/mitdrc/repos","events_url":"https://api.github.com/users/mitdrc/events{/privacy}","received_events_url":"https://api.github.com/users/mitdrc/received_events","type":"Organization","site_admin":false},"repo":{"id":41318197,"name":"director","full_name":"mitdrc/director","owner":{"login":"mitdrc","id":6392416,"avatar_url":"https://avatars.githubusercontent.com/u/6392416?v=3","gravatar_id":"","url":"https://api.github.com/users/mitdrc","html_url":"https://github.com/mitdrc","followers_url":"https://api.github.com/users/mitdrc/followers","following_url":"https://api.github.com/users/mitdrc/following{/other_user}","gists_url":"https://api.github.com/users/mitdrc/gists{/gist_id}","starred_url":"https://api.github.com/users/mitdrc/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mitdrc/subscriptions","organizations_url":"https://api.github.com/users/mitdrc/orgs","repos_url":"https://api.github.com/users/mitdrc/repos","events_url":"https://api.github.com/users/mitdrc/events{/privacy}","received_events_url":"https://api.github.com/users/mitdrc/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/mitdrc/director","description":"A robotics interface and visualization framework, with extensive applications for working with http://drake.mit.edu","fork":true,"url":"https://api.github.com/repos/mitdrc/director","forks_url":"https://api.github.com/repos/mitdrc/director/forks","keys_url":"https://api.github.com/repos/mitdrc/director/keys{/key_id}","collaborators_url":"https://api.github.com/repos/mitdrc/director/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/mitdrc/director/teams","hooks_url":"https://api.github.com/repos/mitdrc/director/hooks","issue_events_url":"https://api.github.com/repos/mitdrc/director/issues/events{/number}","events_url":"https://api.github.com/repos/mitdrc/director/events","assignees_url":"https://api.github.com/repos/mitdrc/director/assignees{/user}","branches_url":"https://api.github.com/repos/mitdrc/director/branches{/branch}","tags_url":"https://api.github.com/repos/mitdrc/director/tags","blobs_url":"https://api.github.com/repos/mitdrc/director/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/mitdrc/director/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/mitdrc/director/git/refs{/sha}","trees_url":"https://api.github.com/repos/mitdrc/director/git/trees{/sha}","statuses_url":"https://api.github.com/repos/mitdrc/director/statuses/{sha}","languages_url":"https://api.github.com/repos/mitdrc/director/languages","stargazers_url":"https://api.github.com/repos/mitdrc/director/stargazers","contributors_url":"https://api.github.com/repos/mitdrc/director/contributors","subscribers_url":"https://api.github.com/repos/mitdrc/director/subscribers","subscription_url":"https://api.github.com/repos/mitdrc/director/subscription","commits_url":"https://api.github.com/repos/mitdrc/director/commits{/sha}","git_commits_url":"https://api.github.com/repos/mitdrc/director/git/commits{/sha}","comments_url":"https://api.github.com/repos/mitdrc/director/comments{/number}","issue_comment_url":"https://api.github.com/repos/mitdrc/director/issues/comments{/number}","contents_url":"https://api.github.com/repos/mitdrc/director/contents/{+path}","compare_url":"https://api.github.com/repos/mitdrc/director/compare/{base}...{head}","merges_url":"https://api.github.com/repos/mitdrc/director/merges","archive_url":"https://api.github.com/repos/mitdrc/director/{archive_format}{/ref}","downloads_url":"https://api.github.com/repos/mitdrc/director/downloads","issues_url":"https://api.github.com/repos/mitdrc/director/issues{/number}","pulls_url":"https://api.github.com/repos/mitdrc/director/pulls{/number}","milestones_url":"https://api.github.com/repos/mitdrc/director/milestones{/number}","notifications_url":"https://api.github.com/repos/mitdrc/director/notifications{?since,all,participating}","labels_url":"https://api.github.com/repos/mitdrc/director/labels{/name}","releases_url":"https://api.github.com/repos/mitdrc/director/releases{/id}","created_at":"2015-08-24T17:50:35Z","updated_at":"2015-08-24T17:50:36Z","pushed_at":"2015-10-01T15:42:49Z","git_url":"git://github.com/mitdrc/director.git","ssh_url":"git@github.com:mitdrc/director.git","clone_url":"https://github.com/mitdrc/director.git","svn_url":"https://github.com/mitdrc/director","homepage":"","size":18288,"stargazers_count":0,"watchers_count":0,"language":"Python","has_issues":false,"has_downloads":true,"has_wiki":true,"has_pages":false,"forks_count":0,"mirror_url":null,"open_issues_count":0,"forks":0,"open_issues":0,"watchers":0,"default_branch":"master"}},"base":{"label":"RobotLocomotion:master","ref":"master","sha":"93d4e762c95cfe3ccd69dec6b1b76eff192ccd96","user":{"login":"RobotLocomotion","id":6496345,"avatar_url":"https://avatars.githubusercontent.com/u/6496345?v=3","gravatar_id":"","url":"https://api.github.com/users/RobotLocomotion","html_url":"https://github.com/RobotLocomotion","followers_url":"https://api.github.com/users/RobotLocomotion/followers","following_url":"https://api.github.com/users/RobotLocomotion/following{/other_user}","gists_url":"https://api.github.com/users/RobotLocomotion/gists{/gist_id}","starred_url":"https://api.github.com/users/RobotLocomotion/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/RobotLocomotion/subscriptions","organizations_url":"https://api.github.com/users/RobotLocomotion/orgs","repos_url":"https://api.github.com/users/RobotLocomotion/repos","events_url":"https://api.github.com/users/RobotLocomotion/events{/privacy}","received_events_url":"https://api.github.com/users/RobotLocomotion/received_events","type":"Organization","site_admin":false},"repo":{"id":23202451,"name":"director","full_name":"RobotLocomotion/director","owner":{"login":"RobotLocomotion","id":6496345,"avatar_url":"https://avatars.githubusercontent.com/u/6496345?v=3","gravatar_id":"","url":"https://api.github.com/users/RobotLocomotion","html_url":"https://github.com/RobotLocomotion","followers_url":"https://api.github.com/users/RobotLocomotion/followers","following_url":"https://api.github.com/users/RobotLocomotion/following{/other_user}","gists_url":"https://api.github.com/users/RobotLocomotion/gists{/gist_id}","starred_url":"https://api.github.com/users/RobotLocomotion/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/RobotLocomotion/subscriptions","organizations_url":"https://api.github.com/users/RobotLocomotion/orgs","repos_url":"https://api.github.com/users/RobotLocomotion/repos","events_url":"https://api.github.com/users/RobotLocomotion/events{/privacy}","received_events_url":"https://api.github.com/users/RobotLocomotion/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/RobotLocomotion/director","description":"A robotics interface and visualization framework, with extensive applications for working with http://drake.mit.edu","fork":false,"url":"https://api.github.com/repos/RobotLocomotion/director","forks_url":"https://api.github.com/repos/RobotLocomotion/director/forks","keys_url":"https://api.github.com/repos/RobotLocomotion/director/keys{/key_id}","collaborators_url":"https://api.github.com/repos/RobotLocomotion/director/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/RobotLocomotion/director/teams","hooks_url":"https://api.github.com/repos/RobotLocomotion/director/hooks","issue_events_url":"https://api.github.com/repos/RobotLocomotion/director/issues/events{/number}","events_url":"https://api.github.com/repos/RobotLocomotion/director/events","assignees_url":"https://api.github.com/repos/RobotLocomotion/director/assignees{/user}","branches_url":"https://api.github.com/repos/RobotLocomotion/director/branches{/branch}","tags_url":"https://api.github.com/repos/RobotLocomotion/director/tags","blobs_url":"https://api.github.com/repos/RobotLocomotion/director/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/RobotLocomotion/director/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/RobotLocomotion/director/git/refs{/sha}","trees_url":"https://api.github.com/repos/RobotLocomotion/director/git/trees{/sha}","statuses_url":"https://api.github.com/repos/RobotLocomotion/director/statuses/{sha}","languages_url":"https://api.github.com/repos/RobotLocomotion/director/languages","stargazers_url":"https://api.github.com/repos/RobotLocomotion/director/stargazers","contributors_url":"https://api.github.com/repos/RobotLocomotion/director/contributors","subscribers_url":"https://api.github.com/repos/RobotLocomotion/director/subscribers","subscription_url":"https://api.github.com/repos/RobotLocomotion/director/subscription","commits_url":"https://api.github.com/repos/RobotLocomotion/director/commits{/sha}","git_commits_url":"https://api.github.com/repos/RobotLocomotion/director/git/commits{/sha}","comments_url":"https://api.github.com/repos/RobotLocomotion/director/comments{/number}","issue_comment_url":"https://api.github.com/repos/RobotLocomotion/director/issues/comments{/number}","contents_url":"https://api.github.com/repos/RobotLocomotion/director/contents/{+path}","compare_url":"https://api.github.com/repos/RobotLocomotion/director/compare/{base}...{head}","merges_url":"https://api.github.com/repos/RobotLocomotion/director/merges","archive_url":"https://api.github.com/repos/RobotLocomotion/director/{archive_format}{/ref}","downloads_url":"https://api.github.com/repos/RobotLocomotion/director/downloads","issues_url":"https://api.github.com/repos/RobotLocomotion/director/issues{/number}","pulls_url":"https://api.github.com/repos/RobotLocomotion/director/pulls{/number}","milestones_url":"https://api.github.com/repos/RobotLocomotion/director/milestones{/number}","notifications_url":"https://api.github.com/repos/RobotLocomotion/director/notifications{?since,all,participating}","labels_url":"https://api.github.com/repos/RobotLocomotion/director/labels{/name}","releases_url":"https://api.github.com/repos/RobotLocomotion/director/releases{/id}","created_at":"2014-08-21T20:45:56Z","updated_at":"2015-09-03T02:54:06Z","pushed_at":"2015-10-01T15:53:20Z","git_url":"git://github.com/RobotLocomotion/director.git","ssh_url":"git@github.com:RobotLocomotion/director.git","clone_url":"https://github.com/RobotLocomotion/director.git","svn_url":"https://github.com/RobotLocomotion/director","homepage":"","size":19618,"stargazers_count":2,"watchers_count":2,"language":"Python","has_issues":true,"has_downloads":true,"has_wiki":true,"has_pages":false,"forks_count":10,"mirror_url":null,"open_issues_count":7,"forks":10,"open_issues":7,"watchers":2,"default_branch":"master"}},"_links":{"self":{"href":"https://api.github.com/repos/RobotLocomotion/director/pulls/81"},"html":{"href":"https://github.com/RobotLocomotion/director/pull/81"},"issue":{"href":"https://api.github.com/repos/RobotLocomotion/director/issues/81"},"comments":{"href":"https://api.github.com/repos/RobotLocomotion/director/issues/81/comments"},"review_comments":{"href":"https://api.github.com/repos/RobotLocomotion/director/pulls/81/comments"},"review_comment":{"href":"https://api.github.com/repos/RobotLocomotion/director/pulls/comments{/number}"},"commits":{"href":"https://api.github.com/repos/RobotLocomotion/director/pulls/81/commits"},"statuses":{"href":"https://api.github.com/repos/RobotLocomotion/director/statuses/e5fb00d38f7b926775cc1f9075244b5b9b2a4aa8"}}}}