def METHOD_NAME(self):
    """Test sending a grasp with object in the way"""
    rospy.sleep(2)
    hand = ShadowHand_ROS()
    # Reset hand.
    for j in hand.allJoints:
        hand.sendupdate(j.name, 0.0)
    rospy.sleep(2)
    goal = GraspGoal()
    goal.grasp = self.mk_grasp({
        'LFJ3': 1.4, 'RFJ3': 1.4, 'MFJ3': 1.4, 'FFJ3': 1.4,
        'LFJ0': 2.0, 'RFJ0': 2.0, 'MFJ0': 2.0, 'FFJ0': 2.0,
    })
    goal.pre_grasp = False
    client = SimpleActionClient('grasp', GraspAction)
    client.wait_for_server()
    client.send_goal(goal)
    client.wait_for_result(rospy.Duration.from_sec(20.0))
    self.assertEqual(client.get_state(), GoalStatus.SUCCEEDED,
                     "Action did not return in SUCCEEDED state.")
    rospy.sleep(2)
    # Reset hand.
    for j in hand.allJoints:
        hand.sendupdate(j.name, 0.0)
    rospy.sleep(2)