Olivier Stasse authored May 25, 2020 and olivier stasse committed May 25, 2020

Indeed as the simulation may vary in speed, and as the robot is
suppose to move forward, test only if the robot did not fall down
and did not drift too much.

Olivier Stasse authored May 21, 2020 and olivier stasse committed May 25, 2020

Additionnally fix wrong use of assert.
The tests are more robust.

It does not look very different from the previous but it generates the
CoM and foot-steps trajectories in real time.
The sot-talos-balance test reads precomputed trajectories.

The two commands rostest put in the README.md are working by launching
gazebo and each time a script validating the behavior.
The final position of the link valid if the behavior is correct or
not.

2 integrative tests:

1 - start_talos_gazebo_kine.py
Test SoT in kinematics to generate a whole body motion
(CoM, contact, waist, waist orientation and left hand)

2 - start_sot_talos_balance.py
Test walking and stabilization walking forward 3m.