Fixed issue with CloseHand() for ADA in sim

[Stefanos19]

No description provided.

[mkoval]

Note that MoveHand function ignores collisions and will always terminate with the hand fully closed, even if it is penetrating an object. The robot.task_manipulation.CloseFingers() function simulates closing the fingers until they are in collision. This is why we have separate functions for CloseFingers and OpenFingers.

[mkoval]

@Stefanos19 Can you take a look at my comment above?

[Stefanos19]

I think the issue is that the command: robot.task_manipulation.prob.SendCommand('CloseFingers') returns the following error:
[grasperplanner.cpp:258 PlanPath] no objects in environment

[mkoval]

I will merge this for now. However, it is really not correct - we should figure out why CloseFingers is failing.

@Stefanos19 Please make an issue about this.