Refactor tests #111
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Refactor tests #111
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This PR introduces a refactor of the tests which reduces the amount of files e duplicated code.
In particular - using
pytest fixtures- I managed to unify the configuration phase (retrieving model path, setting up idyntree kindyn) in theconftest.py. Here pytest sets up and iterates over two robot models and the two velocity representation (mixed and body fixed). In this way we can test more than one robot model and remove files in which the only difference was the velocity representation.The ideal case would be to let
conftest.pyiterate also over the adam interfaces (casadi, jax, torch, numpy, etc), but we need to handle some numerical type conversions. Right now I don't have a clear solution for this and I would leave this for a future PR!I would also kindly ask our conda experts to check if the modifications introduced in this PR can be armful for the actual conda recipe and deploy.
📚 Documentation preview 📚: https://adam-docs--111.org.readthedocs.build/en/111/