[tests/python] Fix threshold in test_center_of_mass, always run

Author: ManifoldFR

tests/python/CMakeLists.txt

@@ -15,7 +15,6 @@ if(NOT BUILD_WITH_PINOCCHIO_PYTHON_BINDINGS)
   list(REMOVE_ITEM PYTHON_TESTS test_frames.py)
 endif()
 if(NOT PINOCCHIO_V3)
-  list(REMOVE_ITEM PYTHON_TESTS test_center_of_mass.py)
   list(REMOVE_ITEM PYTHON_TESTS test_constrained_dynamics.py)
   list(REMOVE_ITEM PYTHON_TESTS test_finite_diff.py)
   list(REMOVE_ITEM PYTHON_TESTS test_frames.py)

tests/python/test_center_of_mass.py

@@ -12,8 +12,8 @@
 model = pin.buildSampleModelHumanoid()
 rdata: pin.Data = model.createData()
 np.random.seed(0)
-FD_EPS = 1e-8
-THRESH = 2 * FD_EPS**0.5
+EPS = 1e-7
+ATOL = 2 * EPS**0.5
 
 nq = model.nq
 nv = model.nv
@@ -55,7 +55,7 @@ def test_com_placement():
     assert J.shape == realJ.shape
     assert np.allclose(fdata.Jx[:, :nv], realJ)
 
-    fun_fd = aligator.FiniteDifferenceHelper(space, fun, FD_EPS)
+    fun_fd = aligator.FiniteDifferenceHelper(space, fun, EPS)
     fdata2 = fun_fd.createData()
     fun_fd.evaluate(x0, u0, x0, fdata2)
     assert np.allclose(fdata.value, fdata2.value)
@@ -70,7 +70,7 @@ def test_com_placement():
         fun.computeJacobians(x0, u0, x0, fdata)
         fun_fd.evaluate(x0, u0, x0, fdata2)
         fun_fd.computeJacobians(x0, u0, x0, fdata2)
-        assert np.allclose(fdata.Jx, fdata2.Jx, THRESH)
+        assert np.allclose(fdata.Jx, fdata2.Jx, ATOL)
 
 
 def test_frame_velocity():
@@ -94,7 +94,7 @@ def test_frame_velocity():
 
     fun.computeJacobians(x0, fdata)
 
-    fun_fd = aligator.FiniteDifferenceHelper(space, fun, FD_EPS)
+    fun_fd = aligator.FiniteDifferenceHelper(space, fun, EPS)
     fdata2 = fun_fd.createData()
     fun_fd.evaluate(x0, u0, x0, fdata2)
     fun_fd.computeJacobians(x0, u0, x0, fdata2)
@@ -110,7 +110,7 @@ def test_frame_velocity():
         print(fdata.Jx)
         print(fdata2.Jx)
         print(fdata.Jx)
-        assert np.allclose(fdata.Jx, fdata2.Jx, THRESH)
+        assert np.allclose(fdata.Jx, fdata2.Jx, ATOL)
 
 
 if __name__ == "__main__":