fixed some tests

bioptim/dynamics/configure_problem.py

@@ -221,8 +221,10 @@ def torque_driven(
         # Configure the contact forces
         if with_contact:
             ConfigureProblem.configure_contact_function(ocp, nlp, DynamicsFunctions.forces_from_torque_driven)
+
         # Configure the soft contact forces
         ConfigureProblem.configure_soft_contact_function(ocp, nlp)
+
         # Algebraic constraints of soft contact forces if needed
         if soft_contacts_dynamics == SoftContactDynamics.CONSTRAINT:
             ocp.implicit_constraints.add(
@@ -853,9 +855,10 @@ def configure_lagrange_multipliers_function(ocp, nlp, dyn_func: Callable, **extr
                 nlp.numerical_timeseries.cx,
             ],
             [
-                dyn_func(
+                dyn_func()(
                     nlp.get_var_from_states_or_controls("q_u", nlp.states.scaled.cx, nlp.controls.scaled.cx),
                     nlp.get_var_from_states_or_controls("qdot_u", nlp.states.scaled.cx, nlp.controls.scaled.cx),
+                    DM.zeros(nlp.model.nb_dependent_joints, 1),
                     DynamicsFunctions.get(nlp.controls["tau"], nlp.controls.scaled.cx),
                 )
             ],
@@ -917,8 +920,9 @@ def configure_qv(ocp, nlp, dyn_func: Callable, **extra_params):
                 nlp.numerical_timeseries.cx,
             ],
             [
-                dyn_func(
+                dyn_func()(
                     nlp.get_var_from_states_or_controls("q_u", nlp.states.cx, nlp.controls.cx),
+                    DM.zeros(nlp.model.nb_dependent_joints, 1),
                 )
             ],
             ["t_span", "x", "u", "p", "a", "d"],
@@ -975,9 +979,10 @@ def configure_qdotv(ocp, nlp, dyn_func: Callable, **extra_params):
                 nlp.numerical_timeseries.cx,
             ],
             [
-                dyn_func(
+                dyn_func()(
                     nlp.get_var_from_states_or_controls("q_u", nlp.states.scaled.cx, nlp.controls.scaled.cx),
                     nlp.get_var_from_states_or_controls("qdot_u", nlp.states.scaled.cx, nlp.controls.scaled.cx),
+                    DM.zeros(nlp.model.nb_dependent_joints, 1),
                 )
             ],
             ["t_span", "x", "u", "p", "a", "d"],

bioptim/dynamics/dynamics_functions.py

@@ -1,9 +1,7 @@
-import numpy as np
-from casadi import horzcat, vertcat, MX, SX
+from casadi import horzcat, vertcat, MX, SX, DM
 
 from .dynamics_evaluation import DynamicsEvaluation
 from .fatigue.fatigue_dynamics import FatigueList
-from ..misc.enums import DefectType
 from ..misc.mapping import BiMapping
 from ..optimization.optimization_variable import OptimizationVariable
 
@@ -1138,7 +1136,7 @@ def holonomic_torque_driven(
         tau = DynamicsFunctions.get(nlp.controls["tau"], controls)
         q_v_init = DM.zeros(
             nlp.model.nb_dependent_joints
-        )  # @ipuch: I'm not sure of this, where q_v_init is supposed to be if not zeros?
-        qddot_u = nlp.model.partitioned_forward_dynamics()(q_u, qdot_u, q_v_init, tau, nlp.parameters.cx)
+        )
+        qddot_u = nlp.model.partitioned_forward_dynamics()(q_u, qdot_u, q_v_init, tau)
 
         return DynamicsEvaluation(dxdt=vertcat(qdot_u, qddot_u), defects=None)

bioptim/limits/penalty_option.py

@@ -896,6 +896,7 @@ def add_or_replace_to_penalty_pool(self, ocp, nlp):
 
         # The active controller is always the last one, and they all should be the same length anyway
         for node in range(len(controllers[-1])):
+            # TODO
             # TODO WARNING THE NEXT IF STATEMENT IS A BUG DELIBERATELY INTRODUCED TO FIT THE PREVIOUS RESULTS.
             # IT SHOULD BE REMOVED AS SOON AS THE MERGE IS DONE (AND VALUES OF THE TESTS ADJUSTED)
             if self.integrate and self.target is not None:

bioptim/misc/external_forces.py

@@ -136,7 +136,7 @@ def get_external_forces_segments(external_forces: ExternalForces):
         for key in external_forces.keys():
             force_torsor = external_forces[key]
             # Check sanity first
-            if force_torsor.force_reference_frame == ReferenceFrame.GLOBAL and force_torsor.point_of_application_reference_frame == ReferenceFrame.LOCAL and force.torque_data is not None:
+            if force_torsor.force_reference_frame == ReferenceFrame.GLOBAL and force_torsor.point_of_application_reference_frame == ReferenceFrame.LOCAL and force_torsor.torque_data is not None:
                 raise NotImplementedError("External forces in global reference frame cannot have a point of application in the local reference frame and torques defined at the same time yet")
             elif force_torsor.force_reference_frame == ReferenceFrame.LOCAL and force_torsor.point_of_application_reference_frame == ReferenceFrame.GLOBAL:
                 raise NotImplementedError("External forces in local reference frame cannot have a point of application in the global reference frame yet")

bioptim/models/biorbd/holonomic_biorbd_model.py

@@ -410,7 +410,7 @@ def _compute_qdot_v(self) -> Function:
         q = self.compute_q()(self.q_u, self.q_v_init)
         biorbd_return = self.compute_qdot_v()(q, self.qdot_u)
         casadi_fun = Function(
-            "compute_qdot_v", [self.q, self.qdot_u, self.q_v_init], [biorbd_return], ["q", "qdot_u"], ["qdot_v"]
+            "compute_qdot_v", [self.q_u, self.qdot_u, self.q_v_init], [biorbd_return], ["q_u", "qdot_u", "q_v_init"], ["qdot_v"]
         )
         return casadi_fun
 

tests/shard1/test_enums.py

@@ -191,7 +191,7 @@ def test_multi_cyclic_cycle_solutions():
 def test_external_forces_type():
     assert ExternalForceType.FORCE.value == "force"
     assert ExternalForceType.TORQUE.value == "torque"
-    assert ExternalForceType.TORQUE_AND_FORCE.value == "force_and_torque"
+    assert ExternalForceType.TORQUE_AND_FORCE.value == "torque_and_force"
 
     # verify the number of elements
     assert len(ExternalForceType) == 3

tests/shard3/test_get_time_solution.py

@@ -1,7 +1,6 @@
 import os
 
 import pytest
-import numpy as np
 import numpy.testing as npt
 
 from bioptim import OdeSolver, Solver, PhaseDynamics, SolutionMerge, TimeAlignment, ControlType, Solution