First version of forceTorqueEstimator with all signals callback partially implemented and tested. Still missing the RNEA computation and some numerical derivatives.
Add python script to test forceTorqueEstimator.
Add python script to test new version of sot hrp-2 device, which can accept positions as control input
Add python script to test new version of sot hrp-2 device, which can accept positions as control input and has a dedicated plugin (i.e. python binding). Before the controller had the python binding, which was not proper.