Incoherence of drag constant in motor dynamics / wrench computation
The drag constant used in the motor equation (motor->b) should be the same quantity as the drag coefficient of the motor used to compute the body wrench from the motor speeds.
It seems that there is an unconsistency in these values: in libmrsim, the default drag for the motor and the default allocation matrix G do not seem to match.
Also, in mrsim-gazebo, there are two different default values (ct=1e-5 ; b=5e-4)
The way to fix this is probably to compute the G explicitely from ct, cf and the propeller geometry, using the GTMR model as in nhfc (557e70ba). mrsim-gazebo reads those from the model file, while mrsim-genom3 should use a set_geom similar to nhfc.