Load parameters using YAML/rosparam
Right now, all parameters, including robot parameters, calibration parameters, control parameters, are either hard-coded inside the test files or written in the configuration files in python/sot_talos_balance/talos, which are then imported by the test files, resulting in something that is centralized, but still somewhat hard-coded.
I believe this approach is not the best. Parameters should be stored inside YAML files, which can then be loaded runtime using rosparam. This is especially true for control parameters. We know very well that the parameters in simulation might greatly differ from those on the real robot. We don't want our code to be continuously changing just because one is switching from the simulation to the robot and vice-versa!
I'll try to see what can be done.