Hi all,

I'm trying to run the .cpp file written in this
tutorial<http://www.ros.org/wiki/pr2_tabletop_manipulation_apps/Tutorials/Writing%20a%20Simple%20Pick%20and%20Place%20Application#Object_Pickup>(copy-paste).
The arm grasps the object but does not lift it.

The rosrun shell shows this error:
[ERROR] [1298982592.493542455, 61.186000000]: The pickup action has failed
with result code -3

And the roslaunch shell:
[ERROR] [1298982592.492881311, 61.187000000]: Hand posture controller timed
out on goal (2)
[ERROR] [1298982592.493188051, 61.187000000]: Grasp error; exception: grasp
execution:mechanism:Hand posture controller timed out

Anyone knows what happens?
Sorry, I'm a ros-newbie.

Thanks.