def object_in_gripper(self, width_object):
"""
This method checks if the object is in the gripper, then position_value of gripper should be greater as -0.5
:param width_object: float
:return: false or true, boolean
"""
self.move_gripper(-2, 1, 0.8)
l = Listener()
l.set_topic_and_typMEssage("/hsrb/joint_states", JointState)
l.listen_topic_with_sensor_msg()
current_hand_motor_value = l.get_value_from_sensor_msg(
"hand_motor_joint")
print("Current hand motor joint is:")
print current_hand_motor_value
print("Is object in gripper ?")
print current_hand_motor_value >= -0.5
return current_hand_motor_value >= -0.5
