Aldebaran

I want to tell NAO robot to grab by one hand or two an object in front of him using the Python SDK is there a piece of code that allows this?

Thanks

Specifically how to leverage http://doc.aldebaran.com/2-4/naoqi/motion/control-cartesian-api.html#ALMotionProxy::setPositions__AL::ALValueCR.AL::ALValueCR.AL::ALValueCR.floatCR.AL::ALValueCR and http://doc.aldebaran.com/2-4/naoqi/motion/control-joint-api.html?highlight=hand#ALMotionProxy::openHand methods to grab a perceived target object?

Specifically how to leverage http://doc.aldebaran.com/2-4/naoqi/motion/control-cartesian-api.html#ALMotionProxy::setPositions__AL::ALValueCR.AL::ALValueCR.AL::ALValueCR.floatCR.AL::ALValueCR and http://doc.aldebaran.com/2-4/naoqi/motion/control-joint-api.html?highlight=hand#ALMotionProxy::openHand methods to grab a perceived target object?