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Here is a more precisely description of the problem and how to reproduce it:

I have problems with the action server for the gripperAction. If I close the gripper of a PR2 in Gazebo when grasping simulated objects the acion server doesn't return.

In my script the robot opens his gripper, then moves his arm to a simulated object and then closes his gripper. At that point he got stuck When closing the gripper, in my script (https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/bosch_manipulation_utils/simple_robot_control/src/simple_robot_control/gripper.py) I call the method wait_for_result() on a SimpleActionClient (in the method execGripperCommand()). When calling this method he waits untill infinity.

I don't know why this happens but maybe you can have a look on it and figure out what the problem is. In Gazebo it seems that the robot wants to close the gripper completely but he can't because of the object.

To reproduce this failing you could install/watch my stuff at http://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/aaai_lfd_demo/.

You can get it run by following the instructions on http://www.ros.org/wiki/aaai_lfd_demo . Instead of launching the whole aaai_lfd_executive.launch (last step) you could also use: rosrun openloop_object_manipulation pick.py tea-box l 3 This shows the problem, that the robot gets stuck when grasping the object.

I think there is a problem with the action server, but I don't know what the problem is.