I put this as a comment on another thread, and on the DRC Forum, but I was told to start my on question here.

Essentially, we need a definitive writeup on the force torque sensors. A) the frame of reference seem to now be in a non-world frame of reference that is not the foot link or the hand link. B) the hand values seem to be just noise, with values changing wildly even when the robot has no motion at all.

having documented/working force torques sensors is one of the most important issues we have right now. We cannot continue with balancing and walking without them, and right now, we cannot make sense of the data we are seeing.