fixed fuerte check for SetChuckingDirection

[es92]

SetChuckingDirection is failing on my machine. Not sure whether that's because of fuerte (I don't see how that could be), the way fuerte is loading herb, or something else.

Here's the error I get:

openravepy.openravepy.openravepy_ext.openrave_exception: openrave (Assert): virtual void OpenRAVE::RobotBase::Manipulator::SetChuckingDirection(const std::vector&):64chuckingdirection.size() == GetGripperDOF(), (eval 4 == 3)

Any thoughts on whether this is how fuerte loads herb or something else? If its something else I'll change this PR to just removing the check.

[es92]

actually I was a few commits behind, recompiling and trying now

[es92]

Nah still happens

[es92]

Oh wait I just realized I how the ros wrapper works, I can't believe the first thing it does is reset --hard, maybe it'll work now.

EDIT: nope, still doesn't work, same error

[mkoval]

You should check the number of gripper joints in the HERB model, e.g. robot.right_arm.GetGripperIndices(). There should be four: three for the fingers and one for the spread. It sounds like one of the joints (perhaps the spread?) is missing in your model.

[es92]

Yep, there's only 3 in my model - just [7,8,9]. The left arm also has only 3, [18,19,20].

[mkoval]

In that case, I suggest setting the chucking direction iff len(GetGripperIndices()) == 4. The chucking direction is already correct in Fuerte. so there's nothing to do for the case len(GetGripperIndices()) == 3.

[es92]

make s sense, added the check