Testing kinematic control without any stabilizer

[olivier-stasse]

Test sot-v3 assuming that the robot is fully rigid without any stabilizer.
The plan is to do that with plans from HPP

[olivier-stasse]

It has already been tested in simulation with Gazebo (to control the hand).
The next step is to do it on the real robot.

[andreadelprete]

This could be done using the entities PositionControl and JointTrajectoryGenerator (that are in sot-torque-control). JointTrajectoryGenerator can generate simple trajectories (e.g. sinusoids, point-to-point minimum jerk), or it can read more complex trajectories from txt files.