apply a tiny velocity after the object has been grasped in ordeer to ensure...

apply a tiny velocity after the object has been grasped in ordeer to ensure that the object stays grasped

source/RobotAPI/statecharts/GraspingWithTorques/GraspingWithTorques.cpp

@@ -380,7 +380,8 @@ namespace armarx
 
         for (int j=0; j<jointNames->getSize(); j++)
         {
-            jointNamesAndValues[jointNames->getVariant(j)->getString()] = 0.0f;  //set everything to zero
+			// we want to ensure that the object stayes grasped -> apply a small velocity (todo: find a better solution!)
+            jointNamesAndValues[jointNames->getVariant(j)->getString()] = 0.01f;  //set everything to zero
             controlModes[jointNames->getVariant(j)->getString()] = eVelocityControl;
         }