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Problem picking items up in Gazebo with PR2


I've set up my own world in Gazebo and now want the PR2 in the simulation grasp the items and pick them up. Therefore I have a script (script from aaai_lfd_demo: which moves the arm of the PR2 into the right position, opens the gripper, grasps the item, and should pick it up. But if the PR2 has grasped the item he freezes. He isn't able to pick it up. So what could be the problem? When using this script with an actual PR2, it works, so it has to be a problem with the Gazebo setup. I just launch my world, a PR2 and my script to move the robot. Here is the xml code of my object: (Are there maybe some parameters wrong?)

I also tried the pick up the coke_can from the PR2_Pick_and_Place_Demo from the pr2_simulator tutorials in my world, but it also doesn't work.

Thanks in advance!

Ralf Kempf