From f10a484c0c7cd64bd01412267a1de6c0f1cfc9ab Mon Sep 17 00:00:00 2001
From: Nikolaus Vahrenkamp <vahrenkamp@kit.edu>
Date: Tue, 15 Jul 2014 13:41:02 +0200
Subject: [PATCH] apply a tiny velocity after the object has been grasped in
ordeer to ensure that the object stays grasped
---
.../statecharts/GraspingWithTorques/GraspingWithTorques.cpp | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/statecharts/GraspingWithTorques/GraspingWithTorques.cpp b/source/RobotAPI/statecharts/GraspingWithTorques/GraspingWithTorques.cpp
index f1f8a2234..60a123777 100644
--- a/source/RobotAPI/statecharts/GraspingWithTorques/GraspingWithTorques.cpp
+++ b/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;
}
--
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