Commit cefed18d authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel

COM uses velocity reference

parent f765117d
......@@ -290,6 +290,7 @@ class COM (Manifold):
def __init__ (self, comname, sotrobot):
self.taskCom = MetaTaskKineCom (sotrobot.dynamic,
name = COM.sep + comname)
self.taskCom.task.setWithDerivative (True)
super(COM, self).__init__(
tasks = [ self.taskCom.task, ],
topics = {
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