[cleaned unittest test_base_estimator.py]

unittest/python/test_base_estimator.py

-from sot_talos_balance.create_entities_utils import *
-from sot_talos_balance.utils.plot_utils import *
-import sot_talos_balance.talos_conf as conf
-import sot_talos_balance.motor_parameters as motor_params
-import sot_talos_balance.control_manager_conf as control_manager_conf
-from dynamic_graph.sot.core.meta_tasks_kine import MetaTaskKine6d, MetaTaskKineCom, gotoNd
-from dynamic_graph.sot.core.matrix_util import matrixToTuple
-from dynamic_graph import plug
-import dynamic_graph as dg
-from dynamic_graph.sot.core import SOT
-from numpy import eye
-from time import sleep
-import os
-from IPython import embed
-from sot_talos_balance.control_manager                        import ControlManager
+from sot_talos_balance.create_entities_utils                  import *
+from IPython                                                  import embed
 from sot_talos_balance.example                                import Example
 from sot_talos_balance.parameter_server                       import ParameterServer
-from dynamic_graph.tracer_real_time                           import TracerRealTime
-from time                                                     import sleep
 from sot_talos_balance.base_estimator                         import BaseEstimator
-from sot_talos_balance.madgwickahrs                           import MadgwickAHRS
-from sot_talos_balance.imu_offset_compensation                import ImuOffsetCompensation
 from sot_talos_balance.utils.sot_utils                        import Bunch
 from sot_talos_balance.example                                import Example
-import sot_talos_balance.talos.control_manager_conf as control_manager_conf
+import sot_talos_balance.talos.control_manager_conf           as param_server_conf
 
 dt = 0.001
 conf = Bunch()
 robot_name = 'robot'
 
-conf.param_server = control_manager_conf
+conf.param_server = param_server_conf
 param_server = ParameterServer("param_server")     
 param_server.init(dt, conf.param_server.urdfFileName, robot_name)
 param_server.setRightFootForceSensorXYZ(conf.param_server.rightFootSensorXYZ)