def createTask(self,selec,diag,gain,sampleInterval):
self.task = TaskJointWeights(self.name)
self.task.setSize(self.robot.dimension)
self.task.selec.value = selec
if(diag):
self.task.setWeights(diag)
else:
self.dyn.signal('inertia').recompute(0)
plug(self.dyn.signal('inertia'),self.task.signal('weights'))
self.task.controlGain.value = gain
self.task.setSampleInterval(sampleInterval)
