bipedal static contact dynamics example

[imrobot2000]

Hey!
Thank you so much for the absolutely amazing library!
I am trying to modify the static contact dynamics example to work with talos so better understand the example. I can get it to work with anymal but it doesn't pass the checks on bipedal example robots. I make sure to swap out the joint names and base link, but there is generally a large error in the contact forces and joint torques. Is there something I missed?

Again thank you so much for your hard work!

[jcarpent]

Hi @imrobot2000,

Thanks for your great and well-appreciated feedback on using Pinocchio.
In order to properly answer your question, could you provide a tiny example in Python for easy validation?
Could you also provide your current version of Pinocchio?

Thanks in advanced,
Best,

Justin