How is the CoM state estimated in this code?

Walking stabilization requires estimates for the CoM position (used in wrench distribution) and velocity (used to compute the DCM and perform feedback). Currently the CoM observer is not explicitly factored in the code, but the process goes as follows:

• The FloatingBaseObserver estimates the translation and orientation of the floating base. It relies on IMU with anchor frame estimation, which is the de facto standard nowadays.
• Controller::updateRealFromKinematics computes the CoM position and its velocity by combining joint encoder measurements with the floating base estimate.
• The CoM state is finally forwarded to Stabilizer::updateState.