Fix geometric simu (use good robot and remove copied file.

sot_pyrene_bringup/launch/geometric_simu_context.launch

@@ -10,7 +10,7 @@
 
    <!-- Load robot model. -->
   <param name="robot_description"
-	 textfile="$(find talos_data)/urdf/talos_reduced.urdf" />
+	 textfile="$(find talos_data)/urdf/talos_reduced_v2.urdf" />
 
 
    <!-- Load robot sot params. -->
@@ -18,8 +18,7 @@
 	 file="$(find sot_pyrene_bringup)/sot/pyrene.yaml" />
   
   <machine name="geometric_simu_machine"
-           address="localhost">
-  </machine >
+    address="localhost" />
 
   <!--
      Read joint_states topic and publish link positions to tf.

sot_pyrene_bringup/launch/geometric_simu_pyrene.launch

-<!-- -*-xml-*-
-     Handle ROS simulation of the SoT.
-  -->
-<launch>
-  <!-- Which robot are we controlling ? -->
-  <arg name="robot" default="pyrene" />
-  <arg name="libsot" default="libsot-pyrene-controller.so" />   
-
-  <include file="$(find sot_talos_bringup)/launch/geometric_simu_context.launch" >
-    <arg name="robot" value="$(arg robot)" />       
-    <arg name="libsot" value="$(arg libsot)" />
-  </include>
-
-  <!-- Load Stack of Tasks. -->
-  <node machine="geometric_simu_machine" 
-        name="node_stack_of_tasks" 
-	pkg="dynamic_graph_bridge"
-	type="geometric_simu"
-        args=" --input-file $(arg libsot)" 
-	respawn="true">
-    <param name="/sot/dg/geometric_simu" value="" />
-  </node>
-
-
-</launch>