Jaco not reaching targets with Closed Hand

[alix]

Hi,
I am working with 'MotionPlanningwithGraping.ttt'. What I have encountered is that whatever position the target is Jaco is not reaching it with 'closed hand'. But all those targets are reached with 'open hands'. What could be the problem here, I want it to reach the target with 'closed hand', otherwise obviously grabbed object will fell down.

My scene is uploaded here : https://www.dropbox.com/s/ty7qgklqxmvit ... t.ttt?dl=0
Please, urgent help required.

[alix]

Update: I just checked that in the original scene also, if the gripper opening signal is commented, the motion planning fails. Curious what is the problem, I really need a solution for this, waiting for help. Thankssss

Edit: Hi, I am still waiting for help.... Thanks a lot in advancee....