Optimized again

pyomeca · Jul 21, 2023 · 6e4dc79 · 6e4dc79
1 parent 4c0cb24
commit 6e4dc79
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Showing 21 changed files with 133 additions and 142 deletions.
diff --git a/tests/test__global_plots.py b/tests/test__global_plots.py
@@ -173,7 +173,7 @@ def test_plot_graphs_for_implicit_constraints(rigidbody_dynamics, assume_phase_d
         final_time=1,
         rigidbody_dynamics=rigidbody_dynamics,
         assume_phase_dynamics=assume_phase_dynamics,
-        expand_dynamics=False,
+        expand_dynamics=True,
     )
     ocp.add_plot_penalty(CostType.ALL)
     sol = ocp.solve()

diff --git a/tests/test_acados_interface.py b/tests/test_acados_interface.py
@@ -43,7 +43,7 @@ def test_acados_no_obj(cost_type):
         biorbd_model_path=bioptim_folder + "/models/cube.bioMod",
         n_shooting=10,
         tf=2,
-        expand_dynamics=False,
+        expand_dynamics=True,
     )
     solver = Solver.ACADOS()
     solver.set_cost_type(cost_type)
@@ -64,7 +64,7 @@ def test_acados_one_mayer(cost_type):
     bioptim_folder = os.path.dirname(ocp_module.__file__)
 
     ocp = ocp_module.prepare_ocp(
-        biorbd_model_path=bioptim_folder + "/models/cube.bioMod", n_shooting=10, tf=2, expand_dynamics=False
+        biorbd_model_path=bioptim_folder + "/models/cube.bioMod", n_shooting=10, tf=2, expand_dynamics=True
     )
     objective_functions = ObjectiveList()
     objective_functions.add(ObjectiveFcn.Mayer.MINIMIZE_STATE, key="q", index=[0], target=np.array([[1.0]]).T)
@@ -96,7 +96,7 @@ def test_acados_mayer_first_node(cost_type):
         biorbd_model_path=bioptim_folder + "/models/cube.bioMod",
         n_shooting=10,
         tf=2,
-        expand_dynamics=False,
+        expand_dynamics=True,
     )
     objective_functions = ObjectiveList()
     objective_functions.add(
@@ -131,7 +131,7 @@ def test_acados_several_mayer(cost_type):
         biorbd_model_path=bioptim_folder + "/models/cube.bioMod",
         n_shooting=10,
         tf=2,
-        expand_dynamics=False,
+        expand_dynamics=True,
     )
     objective_functions = ObjectiveList()
     objective_functions.add(ObjectiveFcn.Mayer.MINIMIZE_STATE, key="q", index=[0, 1], target=np.array([[1.0, 2.0]]).T)
@@ -170,7 +170,7 @@ def test_acados_one_lagrange(cost_type):
         biorbd_model_path=bioptim_folder + "/models/cube.bioMod",
         n_shooting=n_shooting,
         tf=2,
-        expand_dynamics=False,
+        expand_dynamics=True,
     )
     objective_functions = ObjectiveList()
     objective_functions.add(
@@ -214,7 +214,7 @@ def test_acados_one_lagrange_and_one_mayer(cost_type):
         biorbd_model_path=bioptim_folder + "/models/cube.bioMod",
         n_shooting=n_shooting,
         tf=2,
-        expand_dynamics=False,
+        expand_dynamics=True,
     )
     objective_functions = ObjectiveList()
     objective_functions.add(
@@ -260,7 +260,7 @@ def test_acados_control_lagrange_and_state_mayer(cost_type):
         biorbd_model_path=bioptim_folder + "/models/cube.bioMod",
         n_shooting=n_shooting,
         tf=2,
-        expand_dynamics=False,
+        expand_dynamics=True,
     )
     objective_functions = ObjectiveList()
     objective_functions.add(ObjectiveFcn.Lagrange.MINIMIZE_CONTROL, key="tau", multi_thread=False)
@@ -296,7 +296,7 @@ def test_acados_options(cost_type):
         biorbd_model_path=bioptim_folder + "/models/pendulum.bioMod",
         final_time=0.6,
         n_shooting=200,
-        expand_dynamics=False,
+        expand_dynamics=True,
     )
 
     tols = [1e-1, 1e1]
@@ -330,7 +330,7 @@ def test_acados_fail_external():
         biorbd_model_path=bioptim_folder + "/models/pendulum.bioMod",
         final_time=1,
         n_shooting=2,
-        expand_dynamics=False,
+        expand_dynamics=True,
     )
 
     solver = Solver.ACADOS()
@@ -354,7 +354,7 @@ def test_acados_fail_lls():
         final_time=1,
         n_shooting=2,
         use_sx=True,
-        expand_dynamics=False,
+        expand_dynamics=True,
     )
 
     solver = Solver.ACADOS()
@@ -381,7 +381,7 @@ def test_acados_custom_dynamics(problem_type_custom):
         problem_type_custom=problem_type_custom,
         ode_solver=OdeSolver.RK4(),
         use_sx=True,
-        expand_dynamics=False,
+        expand_dynamics=True,
     )
     constraints = ConstraintList()
     constraints.add(ConstraintFcn.SUPERIMPOSE_MARKERS, node=Node.END, first_marker="m0", second_marker="m2")
@@ -426,7 +426,7 @@ def test_acados_one_parameter():
         target_g=np.array([0, 0, -9.81]),
         target_m=20,
         use_sx=True,
-        expand_dynamics=False,
+        expand_dynamics=True,
     )
     model = ocp.nlp[0].model
     objectives = ObjectiveList()
@@ -493,7 +493,7 @@ def test_acados_several_parameter():
         target_g=np.array([0, 0, -9.81]),
         target_m=20,
         use_sx=True,
-        expand_dynamics=False,
+        expand_dynamics=True,
     )
     model = ocp.nlp[0].model
     objectives = ObjectiveList()
@@ -562,7 +562,7 @@ def test_acados_one_end_constraints():
         biorbd_model_path=bioptim_folder + "/models/cube.bioMod",
         n_shooting=10,
         tf=2,
-        expand_dynamics=False,
+        expand_dynamics=True,
     )
 
     model = ocp.nlp[0].model
@@ -616,7 +616,7 @@ def test_acados_constraints_all():
         initialize_near_solution=True,
         constr=False,
         use_sx=True,
-        expand_dynamics=False,
+        expand_dynamics=True,
     )
 
     constraints = ConstraintList()
@@ -658,7 +658,7 @@ def test_acados_constraints_end_all():
         initialize_near_solution=True,
         constr=False,
         use_sx=True,
-        expand_dynamics=False,
+        expand_dynamics=True,
     )
 
     constraints = ConstraintList()
@@ -699,7 +699,7 @@ def test_acados_assume_phase_dynamics_reject():
         final_time=1,
         n_shooting=10,
         assume_phase_dynamics=False,
-        expand_dynamics=False,
+        expand_dynamics=True,
     )
 
     with pytest.raises(
@@ -753,7 +753,7 @@ def test_acados_bounds_not_implemented(failing):
 
     mhe = MovingHorizonEstimator(
         bio_model,
-        Dynamics(DynamicsFcn.TORQUE_DRIVEN, expand=False),
+        Dynamics(DynamicsFcn.TORQUE_DRIVEN, expand=True),
         window_len,
         window_duration,
         x_init=x_init,

diff --git a/tests/test_all_examples.py b/tests/test_all_examples.py
@@ -23,7 +23,7 @@ def test__acados__pendulum():
     bioptim_folder = os.path.dirname(ocp_module.__file__)
 
     ocp_module.prepare_ocp(
-        biorbd_model_path=bioptim_folder + "/models/pendulum.bioMod", n_shooting=41, final_time=3, expand_dynamics=False
+        biorbd_model_path=bioptim_folder + "/models/pendulum.bioMod", n_shooting=41, final_time=3, expand_dynamics=True
     )
 
 
@@ -53,7 +53,7 @@ def test__getting_started__custom_bounds():
         n_shooting=30,
         final_time=2,
         assume_phase_dynamics=True,
-        expand_dynamics=False,
+        expand_dynamics=True,
     )
 
 
@@ -63,9 +63,7 @@ def test__getting_started__custom_constraints():
     bioptim_folder = os.path.dirname(ocp_module.__file__)
 
     ocp_module.prepare_ocp(
-        biorbd_model_path=bioptim_folder + "/models/cube.bioMod",
-        assume_phase_dynamics=True,
-        expand_dynamics=False,
+        biorbd_model_path=bioptim_folder + "/models/cube.bioMod", assume_phase_dynamics=True, expand_dynamics=False
     )
 
 
@@ -95,7 +93,7 @@ def test__getting_started__custom_initial_guess(interpolation, random):
         random_init=random,
         initial_guess=interpolation,
         assume_phase_dynamics=True,
-        expand_dynamics=False,
+        expand_dynamics=True,
     )
 
 

diff --git a/tests/test_continuity_as_objective.py b/tests/test_continuity_as_objective.py
@@ -17,7 +17,7 @@ def test_continuity_as_objective(assume_phase_dynamics):
         n_shooting=3,
         state_continuity_weight=1000000,
         assume_phase_dynamics=assume_phase_dynamics,
-        expand_dynamics=False,
+        expand_dynamics=True,
     )
     sol = ocp.solve()
 

diff --git a/tests/test_controltype_none.py b/tests/test_controltype_none.py
@@ -213,7 +213,7 @@ def prepare_ocp(
             custom_model.declare_variables,
             dynamic_function=custom_model.custom_dynamics,
             phase=i,
-            expand=False,
+            expand=True,
         )
 
     # Creates the constraint for my n phases

diff --git a/tests/test_custom_model.py b/tests/test_custom_model.py
@@ -18,7 +18,7 @@ def test_custom_model(assume_phase_dynamics):
         configure_dynamics=configure_dynamics,
         assume_phase_dynamics=assume_phase_dynamics,
         n_threads=1,
-        expand_dynamics=False,
+        expand_dynamics=True,
     )
 
     np.testing.assert_almost_equal(ocp.nlp[0].model.nb_q, 1)

diff --git a/tests/test_dynamics.py b/tests/test_dynamics.py
@@ -65,7 +65,7 @@ def test_torque_driven(with_contact, with_external_force, cx, rigidbody_dynamics
             DynamicsFcn.TORQUE_DRIVEN,
             with_contact=with_contact,
             rigidbody_dynamics=rigidbody_dynamics,
-            expand=False,
+            expand=True,
         ),
         False,
     )
@@ -212,7 +212,7 @@ def test_torque_driven_implicit(with_contact, cx, assume_phase_dynamics):
             DynamicsFcn.TORQUE_DRIVEN,
             with_contact=with_contact,
             rigidbody_dynamics=RigidBodyDynamics.DAE_INVERSE_DYNAMICS,
-            expand=False,
+            expand=True,
         ),
         False,
     )
@@ -278,7 +278,7 @@ def test_torque_driven_soft_contacts_dynamics(with_contact, cx, implicit_contact
         ocp,
         "dynamics_type",
         Dynamics(
-            DynamicsFcn.TORQUE_DRIVEN, with_contact=with_contact, soft_contacts_dynamics=implicit_contact, expand=False
+            DynamicsFcn.TORQUE_DRIVEN, with_contact=with_contact, soft_contacts_dynamics=implicit_contact, expand=True
         ),
         False,
     )
@@ -346,7 +346,7 @@ def test_torque_derivative_driven(with_contact, with_external_force, cx, assume_
         Dynamics(
             DynamicsFcn.TORQUE_DERIVATIVE_DRIVEN,
             with_contact=with_contact,
-            expand=False,
+            expand=True,
         ),
         False,
     )
@@ -485,7 +485,7 @@ def test_torque_derivative_driven_implicit(with_contact, cx, assume_phase_dynami
             DynamicsFcn.TORQUE_DERIVATIVE_DRIVEN,
             with_contact=with_contact,
             rigidbody_dynamics=RigidBodyDynamics.DAE_INVERSE_DYNAMICS,
-            expand=False,
+            expand=True,
         ),
         False,
     )
@@ -586,7 +586,7 @@ def test_torque_derivative_driven_soft_contacts_dynamics(with_contact, cx, impli
             DynamicsFcn.TORQUE_DERIVATIVE_DRIVEN,
             with_contact=with_contact,
             soft_contacts_dynamics=implicit_contact,
-            expand=False,
+            expand=True,
         ),
         False,
     )
@@ -674,7 +674,7 @@ def test_soft_contacts_dynamics_errors(dynamics, assume_phase_dynamics):
     NonLinearProgram.add(
         ocp,
         "dynamics_type",
-        Dynamics(dynamics, soft_contacts_dynamics=True, expand=False),
+        Dynamics(dynamics, soft_contacts_dynamics=True, expand=True),
         False,
     )
     phase_index = [i for i in range(ocp.n_phases)]
@@ -716,7 +716,7 @@ def test_implicit_dynamics_errors(dynamics, assume_phase_dynamics):
     NonLinearProgram.add(
         ocp,
         "dynamics_type",
-        Dynamics(dynamics, rigidbody_dynamics=RigidBodyDynamics.DAE_INVERSE_DYNAMICS, expand=False),
+        Dynamics(dynamics, rigidbody_dynamics=RigidBodyDynamics.DAE_INVERSE_DYNAMICS, expand=True),
         False,
     )
     phase_index = [i for i in range(ocp.n_phases)]
@@ -761,7 +761,7 @@ def test_torque_activation_driven(with_contact, with_external_force, cx, assume_
     NonLinearProgram.add(
         ocp,
         "dynamics_type",
-        Dynamics(DynamicsFcn.TORQUE_ACTIVATIONS_DRIVEN, with_contact=with_contact, expand=False),
+        Dynamics(DynamicsFcn.TORQUE_ACTIVATIONS_DRIVEN, with_contact=with_contact, expand=True),
         False,
     )
     phase_index = [i for i in range(ocp.n_phases)]
@@ -867,7 +867,7 @@ def test_torque_activation_driven_with_residual_torque(
     NonLinearProgram.add(
         ocp,
         "dynamics_type",
-        Dynamics(DynamicsFcn.TORQUE_ACTIVATIONS_DRIVEN, with_residual_torque=with_residual_torque, expand=False),
+        Dynamics(DynamicsFcn.TORQUE_ACTIVATIONS_DRIVEN, with_residual_torque=with_residual_torque, expand=True),
         False,
     )
     phase_index = [i for i in range(ocp.n_phases)]
@@ -1500,7 +1500,7 @@ def test_joints_acceleration_driven(cx, rigid_body_dynamics, assume_phase_dynami
     NonLinearProgram.add(
         ocp,
         "dynamics_type",
-        Dynamics(DynamicsFcn.JOINTS_ACCELERATION_DRIVEN, rigidbody_dynamics=rigid_body_dynamics, expand=False),
+        Dynamics(DynamicsFcn.JOINTS_ACCELERATION_DRIVEN, rigidbody_dynamics=rigid_body_dynamics, expand=True),
         False,
     )
     np.random.seed(42)
@@ -1574,7 +1574,7 @@ def configure(ocp, nlp, with_contact=None):
     NonLinearProgram.add(
         ocp,
         "dynamics_type",
-        Dynamics(configure, dynamic_function=custom_dynamic, with_contact=with_contact, expand=False),
+        Dynamics(configure, dynamic_function=custom_dynamic, with_contact=with_contact, expand=True),
         False,
     )
     phase_index = [i for i in range(ocp.n_phases)]
@@ -1634,11 +1634,7 @@ def test_with_contact_error(dynamics_fcn, assume_phase_dynamics):
     objective_functions = ObjectiveList()
 
     # Dynamics
-    dynamics = Dynamics(
-        dynamics_fcn,
-        with_contact=True,
-        expand=False,
-    )
+    dynamics = Dynamics(dynamics_fcn, with_contact=True, expand=True)
 
     # Path constraint
     x_bounds = BoundsList()

diff --git a/tests/test_global_fail.py b/tests/test_global_fail.py
@@ -46,7 +46,7 @@ def custom_mx_fail(controller: PenaltyController):
     ):
         OptimalControlProgram(
             BiorbdModel(model_path),
-            Dynamics(DynamicsFcn.TORQUE_DRIVEN, expand=False),
+            Dynamics(DynamicsFcn.TORQUE_DRIVEN, expand=True),
             30,
             2,
             constraints=constraints,
@@ -78,7 +78,7 @@ def custom_mx_fail(controller: PenaltyController):
 
     ocp = OptimalControlProgram(
         BiorbdModel(model_path),
-        Dynamics(DynamicsFcn.TORQUE_DRIVEN, expand=False),
+        Dynamics(DynamicsFcn.TORQUE_DRIVEN, expand=True),
         30,
         2,
         constraints=constraints,