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Can I define an end-effector on my base link? #206

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EpicDuckPotato opened this issue Aug 27, 2021 · 0 comments
Open

Can I define an end-effector on my base link? #206

EpicDuckPotato opened this issue Aug 27, 2021 · 0 comments

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@EpicDuckPotato
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I have a robot with thrusters, so I want to use EE_ARE_CONTROL_INPUTS with FloatingBaseFDSystem, and define the thruster frames as end-effectors. However, some of the thrusters are on the base link, and I don't think RobCoGen generates Jacobians between frames on the same link. Therefore, I get a compilation error when I try to define an end-effector on the base link saying the Jacobian between the base and the specified link doesn't exist. Is there a way around this?
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@EpicDuckPotato