Validate CoM admittance with full CoM estimation
python/sot_talos_balance/test/test_dcmZmpControl_estimator.py demonstrates CoM admittance control with feedback from the force sensors and CoM estimation from the joint encoders.
Unfortunately, we still have to solve the issue with the velocity feedback (see #61), but I think it is still worth to give it a try.
Issue #55 (closed) should be working first, since it is simpler (no CoM feedback). Then, another requirement is to validate the base estimation (#67). After this, we may execute the control.
The test is ready - it includes F/T calibration and safety control manager.