Add necessary YAML params

test/yaml/problem_force_torque_inertial_dynamics_processor_test.yaml

@@ -39,7 +39,11 @@ config:
     com:                          [0,0,0.0341]                      # center of mass [m]
     inertia:                      [0.017598,0.017957,0.029599]      # moments of inertia i_xx, i_yy, i_zz [kg m2]
     mass:                         1.952                             # mass [kg]
-
+    imu_bias_fix:                 true
+    com_fix:                      true
+    inertia_fix:                  true
+    mass_fix:                     true  
+    
   processors:
    -
     name: "proc FTID"

test/yaml/problem_force_torque_inertial_dynamics_simulation_test.yaml

@@ -48,6 +48,10 @@ config:
     com:                          [0.005,0.005,0.01]                      # center of mass [m]
     inertia:                      [0.015,0.015,0.030]      # moments of inertia i_xx, i_yy, i_zz [kg m2]
     mass:                         2.00                              # mass [kg]
+    imu_bias_fix:                 true
+    com_fix:                      true
+    inertia_fix:                  true
+    mass_fix:                     true  
 
    - 
     name: sensor Pose

test/yaml/problem_force_torque_inertial_dynamics_solve_test.yaml

@@ -48,6 +48,10 @@ config:
     com:                          [0,0,0.0341]                      # center of mass [m]
     inertia:                      [0.017598,0.017957,0.029599]      # moments of inertia i_xx, i_yy, i_zz [kg m2]
     mass:                         1.952                             # mass [kg]
+    imu_bias_fix:                 true
+    com_fix:                      true
+    inertia_fix:                  true
+    mass_fix:                     true  
 
   processors:
    -

test/yaml/processor_force_torque_inertial.yaml

@@ -10,4 +10,5 @@
       max_buff_length:  5   # motion deltas
       dist_traveled:    1   # meters
       angle_turned:     1   # radians (1 rad approx 57 deg, approx 60 deg)
+    
 

test/yaml/sensor_force_torque_inertial.yaml

@@ -9,4 +9,8 @@ gyro_drift_std:               0.00001     # std dev of gyro drift rad/s/sqrt(s)
 
 com:                          [0,0,0.0341]                      # center of mass [m]
 inertia:                      [0.017598,0.017957,0.029599]      # moments of inertia i_xx, i_yy, i_zz [kg m2]
-mass:                         1.952                             # mass [kg]
\ No newline at end of file
+mass:                         1.952                             # mass [kg]
+imu_bias_fix:                 true
+com_fix:                      true
+inertia_fix:                  true
+mass_fix:                     true
\ No newline at end of file