[Robot] Add missing evaluation of the center of mass acceleration provided zero joint acceleration

src/robots/robot-wrapper.cpp

@@ -73,6 +73,7 @@ namespace tsid
       // computeAllTerms does not compute the com acceleration, so we need to call centerOfMass
       se3::centerOfMass<true,true,true>(m_model, data, false);
       se3::framesForwardKinematics(m_model, data);
+      se3::centerOfMass(m_model, data, q, v, Eigen::VectorXd::Zero(nv()));
     }
     
     const Vector & RobotWrapper::rotor_inertias() const