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Add new test suite of functional APIs #106

Merged
merged 35 commits into from
Mar 12, 2024
Merged

Add new test suite of functional APIs #106

merged 35 commits into from
Mar 12, 2024

Commits on Mar 12, 2024

  1. Remove existing tests of OOP APIs

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  2. Add a pytest fixture to generate a PRNG key

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  3. Add fixture to parameterize tests over all velocity representations

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  4. Add session-wide fixtures to provide tested models

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  5. Add collections of tested models

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  6. Add tests of jaxsim.api.data module

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  7. Add test of jaxsim.api.joint module

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  8. Add test of jaxsim.api.link module

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  9. Add test of jaxsim.api.model module

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  10. Add methods to wrapper utils_idyntree.KinDynComputations

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  11. Add other iDynTree testing helpers

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  12. Add test to check automatic differentiation of algorithms

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  13. Fix random generation of JaxSimModelData for fixed-base models

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  14. Fix random generation of JaxSimModelData for jointless models

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  15. Fix api.joint.name_to_idx

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  16. Fix ABA in Mixed representation for fixed-base models

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  17. Fix ABA when inputs are passed 

    The low-level RBDA need the inputs to be in inertial-fixed representation. We use JaxSimModelReferences to automatically convert them.
    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  18. Fix computation of bias forces for fixed-base models

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  19. Rename Heun integrator to Heun2

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  20. Fix ForwardEuler integrator

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  21. Fix shape correction of the Butcher tableau b parameter

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  22. Fix non-jit execution of RBDAs for models with no joints

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  23. Fix collidable_points_pos_vel for models with no collidable points

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  24. Remove pytest-forked

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  25. Require updated version of the rod dependency

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  26. Fix joint.position_limit for jointless models

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  27. Fix cast of gc.body in api.ode

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  28. Do not raise in simulation.utils.check_valid_shape

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  29. Increase tolerance in test of reduced CoM position

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  30. Update api.__init__.py

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  31. Add again support for latest jax and jaxlib

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  32. Install Gazebo Sim instead of Gazebo Classic in CI

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  33. Add test of jit compiling functions taking JaxSimModel as input

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  34. Use ordered split keys in random data generation

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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  35. Do not alter during runtime Butcher tableau coefficients

    @diegoferigo
    diegoferigo committed Mar 12, 2024
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