Add grasp inwards vectors to bimanual grasp class

source/RobotAPI/interface/units/GraspCandidateProviderInterface.ice

@@ -100,9 +100,13 @@ module armarx
             PoseBase graspPoseRight;
             PoseBase graspPoseLeft;
             PoseBase robotPose;
+
             Vector3Base approachVectorRight;
             Vector3Base approachVectorLeft;
 
+            Vector3Base inwardsVectorRight;
+            Vector3Base inwardsVectorLeft;
+
             string sourceFrame;  // frame where graspPose is located
             string targetFrame;  // frame which should be moved to graspPose
 

source/RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.cpp

@@ -79,7 +79,8 @@ namespace armarx
 
     void PositionControllerHelper::updateWrite()
     {
-        Eigen::VectorXf cv = posController.calculate(getCurrentTarget(), VirtualRobot::IKSolver::All);
+        auto target = getCurrentTarget();
+        Eigen::VectorXf cv = posController.calculate(target, VirtualRobot::IKSolver::All);
         velocityControllerHelper->setTargetVelocity(cv + feedForwardVelocity);
         if (autoClearFeedForward)
         {