Calibrating dynamic model
I believe we should calibrate the dynamic model. I see a huge difference between the measured foot forces and the desired ones computed by using the model. In particular, the total weight of the robot, as measured by the foot force sensors, seems to be much higher than the Pinocchio model mass (about 10kg difference). @ostasse, what are the results of the calibration you did with Vincent? If there is no significant difference with the PAL model, then the problem is probably in the force sensors themselves