Mismatch between torques computed with RNEA from WPG and measured one
There is a mismatch between the torques computed with RNEA from WPG and the measured one. The configuration trajectories are correct. The experiment and the results are described here: https://gepgitlab.laas.fr/loco-3d/sot-talos-balance/wikis/Experiment-2020-01-27-18-48-Half-step-forward-20-cm-SS-0.9-DS-0.115