I am implementing the reactive pHRI control laws of AnDy deliverable D4.1 by extending the current standup experiment. In this case, how should the base pose of the human to be considered? I have two questions in this regard

• If I recall correctly, with the current standup experiment setup the transformation from the robot to the human is a fixed transformation. What are the links considered on the robot and the human (e.g., root_link of the robot to pelvis of human??)for this fixed transformation? @claudia-lat @lucaTagliapietra @diegoferigo @DanielePucci

• The human-state-provider module gives the values of baseOriginWRTGlobal , baseOrientationWRTGlobal, baseVelocityWRTGlobal as considered in this thrift file. Which human link is considered as the base link in general and in the current standup experiment particularly? @francesco-romano