On 11/22/2013 08:59 AM, Jakob Schwendner wrote: > To use internally, or as an interface type? > As far as I can see, there is only the effort field in the joints. > Defining a wrench in base, equivalent to the kdl type seems to be feasible. There is a RigidBodyAcceleration type ... However we should probably rename the type to e.g. Wrench ?
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