Calibrating force sensors
By suspending the robot in the air and measuring output of the foot force sensors, a bias of about 5 kg was highlighted on at least one of them.
Experiments have not shown any sensible temperature drift, but this remains to be investigated more rigorously.
@tflayols and @fbailly are now running an experimental campaign on the robot to gather as many data as possible, in order to design a calibration routine which will be automatically run at the robot start.
This might interest @frisbourg too for the end-effector admittance.