[python] Remove robot_data_test.py

python/dynamic_graph/sot/torque_control/tests/robot_data_test.py

-# TO DO: Checking that this data are making sense
-# Right now this is put just to test the various functions
-import numpy
-
-class initRobotData:
-  nbJoints=29
-  testRobotPath="/opt/openrobots/share/simple_humanoid_description/urdf/simple_humanoid.urdf"
-  controlDT=0.005
-  maxCurrent=5
-  robotRef= "control-manager-robot"
-  urdftosot=(12,13,14,15,23,24,25,26,27,28,16,17,18,19,20,21,22,6,7,8,9,10,11,0,1,2,3,4,5)
-
-  ctrlManagerCurrentToControlGain=1.0
-
-  mapJointNameToID={
-    'rhy': 0, 
-    'rhr': 1, 
-    'rhp': 2, 
-    'rk': 3,
-    'rap': 4,
-    'rar': 5,
-    'lhy': 6,
-    'lhr': 7,
-    'lhp': 8,
-    'lk': 9,
-    'lap': 10, 
-    'lar': 11, 
-    'ty': 12, 
-    'tp': 13, 
-    'hp': 14, 
-    'rsp': 15, 
-    'rsr': 16, 
-    'rsy': 17, 
-    're': 18, 
-    'rwy': 19, 
-    'rwp': 20,
-    'rh': 21,
-    'lsp': 22,
-    'lsr': 23,
-    'lsy': 24,
-    'le': 25,
-    'lwy': 26,
-    'lwp': 27,
-    'lh': 28
-  }
-    
-  mapJointLimits={
-    0 : [-0.785398, 0.523599],  
-    1 : [-0.610865, 0.349066],  
-    2 : [-2.18166, 0.733038],   
-    3 : [-0.0349066, 2.61799], 
-    4 : [-1.309, 0.733038],     
-    5 : [-0.349066, 0.610865],  
-    6 : [-0.523599, 0.785398],  
-    7 : [-0.349066, 0.610865],  
-    8 : [-2.18166, 0.733038],   
-    9 : [-0.0349066, 2.61799], 
-    10 : [-1.309, 0.733038],    
-    11 : [-0.610865, 0.349066], 
-    12 : [-0.785398, 0.785398],
-    13 : [-0.0872665, 1.0472], 
-    14 : [-0.785398, 0.78539], 
-    15 : [-0.523599, 0.785398],
-    16 : [-3.14159, 1.0472],    
-    17 : [-1.65806, 0.174533],  
-    18 : [-1.6057, 1.6057],     
-    19 : [-2.3911, 0.0349066],  
-    20 : [-1.6057, 1.6057],     
-    21 : [-1.6057, 1.6057],    
-    22 : [-1.0, 1.0],      
-    23 : [-3.14159, 1.0472],    
-    24 : [-0.174533, 1.65806],  
-    25 : [-1.6057, 1.6057],     
-    26 : [-2.3911, 0.0349066],  
-    27 : [-1.6057, 1.6057],     
-    28 : [-1.6057, 1.6057],    
-  }
-    
-  fMax=numpy.array([100.0,100.0,300.0,80.0,80.0,30.0])
-  fMin=-fMax
-  mapForceIdToForceLimits={
-    0: [fMin,fMax],
-    1: [fMin,fMax],
-    2: [fMin,fMax],
-    3: [fMin,fMax]
-  }
-    
-  mapNameToForceId={
-    "rf": 0,
-    "lf": 1,
-    "rh": 2,
-    "lh": 3
-  }
-    
-  indexOfForceSensors= () 
-  FootFrameNames= { 
-    "Right": "RLEG_ANKLE_R",
-    "Left" : "LLEG_ANKLE_R"
-  }
-      
-  RightFootSensorXYZ = (0.0,0.0,-0.085)
-
-  def init_and_set_controller_manager(self, cm):
-    # Init should be called before addCtrlMode 
-    # because the size of state vector must be known.
-    cm.init(self.controlDT,self.testRobotPath,self.robotRef)
-
-    # Set the map from joint name to joint ID
-    for key in self.mapJointNameToID:
-      cm.setNameToId(key,self.mapJointNameToID[key])
-            
-    # Set the map joint limits for each id
-    for key in self.mapJointLimits:
-      cm.setJointLimitsFromId(key,self.mapJointLimits[key][0], \
-                              self.mapJointLimits[key][1])
-          
-    # Set the force limits for each id
-    for key in self.mapForceIdToForceLimits:
-      cm.setForceLimitsFromId(key,tuple(self.mapForceIdToForceLimits[key][0]), \
-                              tuple(self.mapForceIdToForceLimits[key][1]))
-
-    # Set the force sensor id for each sensor name
-    for key in self.mapNameToForceId:
-      cm.setForceNameToForceId(key,self.mapNameToForceId[key])
-
-    # Set the map from the urdf joint list to the sot joint list
-    cm.setJointsUrdfToSot(self.urdftosot)
-
-    # Set the foot frame name
-    for key in self.FootFrameNames:
-      cm.setFootFrameName(key,self.FootFrameNames[key])
-
-    cm.setRightFootSoleXYZ(self.RightFootSensorXYZ)
-
-