Currently, the script employing the stabilizer with trajectories read from text expects the following information:
- optionally, ZMP.dat (if not given, it is computed from the CoM)
I was thinking that we should add another file for the upper body configuration, which will then be potentially time-varying and controlled in a purely kinematic way at the joint level.
Then I thought: instead of all this, we could have a single file containing the whole robot configuration, including the lower body and the freeflyer: position, velocity and acceleration. This would make the above files redundant, as all above quantities can be easily computed from the configuration. The freeflyer and the joint angles for the legs will be probably only employed to compute the above quantities and then ignored, while the joint angles of the upper body will be directly fed to the SOT.
What do you think? Is there any reason to provide the above information separately from the configuration? I don't think there is any (except maybe the ZMP).
Should we change the specification so that we have a single file containing the whole configuration?