remove useless task in centroidal baseTask test

Author: EtienneAr

tests/inverse-dynamics/centroidal.cpp

@@ -251,10 +251,8 @@ BOOST_AUTO_TEST_CASE(CentroidalID_baseTask)
 {
   CentroidalID::Settings settings;
   settings.kp_base = 7.;
-  settings.kp_com = 1.;
   settings.kp_contact = .1;
   settings.w_base = 100.0;
-  settings.w_com = 10.0;
   settings.w_contact_force = 1.0;
   settings.w_contact_motion = 1.0;
 
@@ -268,7 +266,6 @@ BOOST_AUTO_TEST_CASE(CentroidalID_baseTask)
   const Eigen::VectorXd q_target = model_handler.getReferenceState().head(nq);
 
   // Change initial state
-  test.q = solo_q_start(model_handler);
   test.q.segment<4>(3) << 0.0025, 0.05, 0.05, 0.998; // small orientation perturbation (~6° on pitch and yaw)
   test.q.segment<4>(3) /= test.q.segment<4>(3).norm();