Merge pull request #268 from ami-iit/fix/deprecation_in_tests

Fix API deprecations in tests

tests/test_automatic_differentiation.py

@@ -295,7 +295,7 @@ def test_ad_soft_contacts(
     m = jax.random.uniform(subkey3, shape=(3,), minval=-1)
 
     # Get the soft contacts parameters.
-    parameters = js.contact.estimate_good_soft_contacts_parameters(model=model)
+    parameters = js.contact.estimate_good_contact_parameters(model=model)
 
     # ====
     # Test
@@ -374,8 +374,8 @@ def test_ad_integration(
     )
 
     # Initialize the integrator.
-    t0, dt = 0.0, 0.001
-    integrator_state = integrator.init(x0=data.state, t0=t0, dt=dt)
+    t0 = 0.0
+    integrator_state = integrator.init(x0=data.state, t0=t0, dt=model.time_step)
 
     # Function exposing only the parameters to be differentiated.
     def step(
@@ -408,7 +408,6 @@ def step(
         )
 
         data_xf, _ = js.model.step(
-            dt=dt,
             model=model,
             data=data_x0,
             integrator=integrator,

tests/test_pytree.py

@@ -29,19 +29,19 @@ def test_call_jit_compiled_function_passing_different_objects(
 
     # If this function has never been compiled by any other test, JAX will
     # jit-compile it here.
-    _ = js.contact.estimate_good_soft_contacts_parameters(model=model1)
+    _ = js.contact.estimate_good_contact_parameters(model=model1)
 
     # Now JAX should not compile it again.
     with jax.log_compiles():
         with io.StringIO() as buf, redirect_stdout(buf):
             # Beyond running without any JIT recompilations, the following function
             # should work on different JaxSimModel objects without raising any errors
             # related to the comparison of Static fields.
-            _ = js.contact.estimate_good_soft_contacts_parameters(model=model2)
+            _ = js.contact.estimate_good_contact_parameters(model=model2)
             stdout = buf.getvalue()
 
     assert (
-        f"Compiling {js.contact.estimate_good_soft_contacts_parameters.__name__}"
+        f"Compiling {js.contact.estimate_good_contact_parameters.__name__}"
         not in stdout
     )
 

tests/test_simulations.py

@@ -71,9 +71,8 @@ def test_box_with_external_forces(
 
     # Initialize the integrator.
     tf = 0.5
-    dt = 0.001
-    T_ns = jnp.arange(start=0, stop=tf * 1e9, step=dt * 1e9, dtype=int)
-    integrator_state = integrator.init(x0=data0.state, t0=0.0, dt=dt)
+    T_ns = jnp.arange(start=0, stop=tf * 1e9, step=model.time_step * 1e9, dtype=int)
+    integrator_state = integrator.init(x0=data0.state, t0=0.0, dt=model.time_step)
 
     # Copy the initial data...
     data = data0.copy()
@@ -84,7 +83,6 @@ def test_box_with_external_forces(
         data, integrator_state = js.model.step(
             model=model,
             data=data,
-            dt=dt,
             integrator=integrator,
             integrator_state=integrator_state,
             link_forces=references.link_forces(model=model, data=data),