Commit 37976b43 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel

Update GraspTask gain and add velocity reference

parent 7ed622c7
......@@ -176,7 +176,8 @@ class Grasp (Manifold):
# M = transformToMatrix(self.gripper.sotpose)
# self.graspTask.opmodif = matrixToTuple(M)
# self.graspTask.feature.frame("desired")
self.graspTask.task.controlGain.value = 5
self.graspTask.task.setWithDerivative (True)
setGain(self.graspTask.gain,(100,0.9,0.01,0.9))
self.graspTask.feature.frame("current")
self.tasks = [ self.graspTask.task ]
......
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