Added the capability to run the tests as files

test/binding/python3/tests_wrapper/test_dynamics.py → test/binding/python3/tests_wrapper/test_wrapper_dynamics.py

@@ -1,7 +1,7 @@
 import numpy as np
 import pytest
 
-from .utils import evaluate, brbd_to_test
+from wrapper_tests_utils import evaluate, brbd_to_test
 
 
 @pytest.mark.parametrize("brbd", brbd_to_test)
@@ -56,3 +56,8 @@ def test_wrapper_dynamics(brbd):
         ],
         decimal=6,
     )
+
+
+if __name__ == "__main__":
+    for brbd in brbd_to_test:
+        test_wrapper_dynamics(brbd)

test/binding/python3/tests_wrapper/test_external_forces.py → test/binding/python3/tests_wrapper/test_wrapper_external_forces.py

@@ -3,7 +3,7 @@
 import numpy as np
 import pytest
 
-from .utils import evaluate, brbd_to_test
+from wrapper_tests_utils import evaluate, brbd_to_test
 
 
 @pytest.mark.parametrize("brbd", brbd_to_test)
@@ -144,3 +144,8 @@ def test_wrapper_external_forces(brbd):
     np.testing.assert_array_almost_equal(
         evaluate(brbd, model.forward_dynamics, q=q, qdot=qdot, tau=tau, ignore_contacts=True), ref_qddot
     )
+
+
+if __name__ == "__main__":
+    for brbd in brbd_to_test:
+        test_wrapper_external_forces(brbd)

test/binding/python3/tests_wrapper/test_frames.py → test/binding/python3/tests_wrapper/test_wrapper_frames.py

@@ -3,7 +3,7 @@
 import numpy as np
 import pytest
 
-from .utils import evaluate, brbd_to_test
+from wrapper_tests_utils import evaluate, brbd_to_test
 
 
 @pytest.mark.parametrize("brbd", brbd_to_test)
@@ -91,3 +91,8 @@ def test_wrapper_frames(brbd):
         )
         np.testing.assert_almost_equal(frame.world_rotation_as_euler("xyz"), [-0.002304, -0.05893213, 0.06090137])
         np.testing.assert_almost_equal(frame.world_translation, [-0.017545, -0.007, 0.17])
+
+
+if __name__ == "__main__":
+    for brbd in brbd_to_test:
+        test_wrapper_frames(brbd)

test/binding/python3/tests_wrapper/test_kalman_filter.py → test/binding/python3/tests_wrapper/test_wrapper_kalman_filter.py

@@ -1,7 +1,7 @@
 import numpy as np
 import pytest
 
-from .utils import brbd_to_test
+from wrapper_tests_utils import brbd_to_test
 
 
 @pytest.mark.parametrize("brbd", brbd_to_test)
@@ -30,3 +30,8 @@ def test_wrapper_kalman_filter(brbd):
     for i, (q_i, _, _) in enumerate(kalman.reconstruct_frames(markers)):
         q_recons[:, i] = q_i
     np.testing.assert_almost_equal(q_recons[:, -1], target_q[:, -1], decimal=6)
+
+
+if __name__ == "__main__":
+    for brbd in brbd_to_test:
+        test_wrapper_kalman_filter(brbd)  # This test is long

test/binding/python3/tests_wrapper/test_markers.py → test/binding/python3/tests_wrapper/test_wrapper_markers.py

@@ -3,7 +3,7 @@
 import numpy as np
 import pytest
 
-from .utils import evaluate, brbd_to_test
+from wrapper_tests_utils import evaluate, brbd_to_test
 
 
 @pytest.mark.parametrize("brbd", brbd_to_test)
@@ -118,3 +118,8 @@ def test_wrapper_markers(brbd):
         np.testing.assert_almost_equal(evaluate(brbd, markers.jacobian, q=q)[0, : model.nb_q], jacobian_at_q)
     else:
         np.testing.assert_almost_equal(evaluate(brbd, markers.jacobian, q=q)[0], jacobian_at_q)
+
+
+if __name__ == "__main__":
+    for brbd in brbd_to_test:
+        test_wrapper_markers(brbd)

test/binding/python3/tests_wrapper/test_model.py → test/binding/python3/tests_wrapper/test_wrapper_model.py

@@ -1,7 +1,7 @@
 import numpy as np
 import pytest
 
-from .utils import evaluate, brbd_to_test
+from wrapper_tests_utils import evaluate, brbd_to_test
 
 
 @pytest.mark.parametrize("brbd", brbd_to_test)
@@ -448,3 +448,8 @@ def test_wrapper_model(brbd):
             model.mass_matrix(inverse=True)
     else:
         np.testing.assert_almost_equal(model.mass_matrix(inverse=True), inverse_matrix_reference, decimal=6)
+
+
+if __name__ == "__main__":
+    for brbd in brbd_to_test:
+        test_wrapper_model(brbd)

test/binding/python3/tests_wrapper/test_muscles.py → test/binding/python3/tests_wrapper/test_wrapper_muscles.py

@@ -6,7 +6,7 @@
 import numpy as np
 import pytest
 
-from .utils import evaluate, brbd_to_test
+from wrapper_tests_utils import evaluate, brbd_to_test
 
 
 @pytest.mark.parametrize("brbd", brbd_to_test)
@@ -41,10 +41,10 @@ def test_muscles(brbd):
     tau = evaluate(brbd, muscles.joint_torque, activations=activations, q=np.array(q) * 2, qdot=qdot)
     np.testing.assert_almost_equal(tau, [-10.11532606, -10.13974674])
 
-    # # # # # Validate forces and length jacobian
-    # # # # forces = _evaluate(brbd, muscles.forces, q=q, qdot=qdot)
-    # # # # jacobian = _evaluate(brbd, muscles.length_jacobian, q=q)
-    # # # # np.testing.assert_almost_equal(-jacobian.T @ forces, [-10.11532606, -10.13974674])
+    # Validate forces and length jacobian
+    jacobian = np.array(evaluate(brbd, muscles.lengths_jacobian, q=np.array(q) * 2)).squeeze()
+    forces = evaluate(brbd, muscles.forces, q=np.array(q) * 2, qdot=qdot)
+    np.testing.assert_almost_equal(-jacobian.T @ forces, [-10.11532606, -10.13974674])
 
     # Test the muscle forces for internal and explicit kinematics update
     forces_ref = [403.47878369, 341.14054494, 214.28139395, 239.38801482, 201.51684182, 493.98451373]
@@ -170,3 +170,9 @@ def test_static_optimization(brbd):
     np.testing.assert_almost_equal(
         muscle_activations[-1], [0.00012686, 0.00012018, 0.00089968, 0.00010025, 0.00010027, 0.00010081], decimal=5
     )
+
+
+if __name__ == "__main__":
+    for brbd in brbd_to_test:
+        test_muscles(brbd)
+        test_static_optimization(brbd)

test/binding/python3/tests_wrapper/test_segments.py → test/binding/python3/tests_wrapper/test_wrapper_segments.py

@@ -1,7 +1,7 @@
 import numpy as np
 import pytest
 
-from .utils import evaluate, brbd_to_test
+from wrapper_tests_utils import evaluate, brbd_to_test
 
 
 @pytest.mark.parametrize("brbd", brbd_to_test)
@@ -42,3 +42,8 @@ def test_wrapper_segments(brbd):
 
     # Get the markers of the segment
     assert len(segment.markers) == 6
+
+
+if __name__ == "__main__":
+    for brbd in brbd_to_test:
+        test_wrapper_segments(brbd)