def METHOD_NAME(self):
    approachrays = self.gmodel.computeBoxApproachRays(delta=0.02,normalanglerange=0.5) # rays to approach object
    standoffs = [0]
    # roll discretization
    rolls = arange(0,2*pi,0.5*pi)
    # initial preshape for robot is the released fingers
    with self.gmodel.target:
        self.gmodel.target.Enable(False)
        taskmanip = interfaces.TaskManipulation(self.robot)
        final,traj = taskmanip.ReleaseFingers(execute=False,outputfinal=True)
        preshapes = array([final])
    try:
        self.gmodel.disableallbodies=False
        self.gmodel.generate(preshapes=preshapes,standoffs=standoffs,rolls=rolls,approachrays=approachrays,checkgraspfn=self.checkgraspfn,graspingnoise=0.01)
        return None,None # did not find anything
    except self.GraspingException as e:
        return e.args