Fix on custom_model.py + test

bioptim/examples/custom_model/custom_package/my_model.py

@@ -2,10 +2,9 @@
 This script implements a custom model to work with bioptim. Bioptim has a deep connection with biorbd,
 but it is possible to use bioptim without biorbd. This is an example of how to use bioptim with a custom model.
 """
-from typing import Callable
-
 import numpy as np
 from casadi import sin, MX
+from typing import Callable
 
 
 class MyModel:
@@ -26,6 +25,11 @@ def serialize(self) -> tuple[Callable, dict]:
         return MyModel, dict(com=self.com, inertia=self.inertia)
 
     # ---- Needed for the example ---- #
+
+    @property
+    def name(self) -> str:
+        return "MyModel"
+
     @property
     def nb_tau(self):
         return 1

bioptim/examples/custom_model/main.py

@@ -4,9 +4,6 @@
 """
 import numpy as np
 
-# import the custom model
-from bioptim.examples.custom_model.custom_package import MyModel
-
 from bioptim import (
     OptimalControlProgram,
     BoundsList,
@@ -21,6 +18,9 @@
     PhaseDynamics,
 )
 
+# import the custom model
+from bioptim.examples.custom_model.custom_package import MyModel
+
 
 def prepare_ocp(
     model: MyModel,
@@ -70,7 +70,10 @@ def prepare_ocp(
     # Dynamics
     dynamics = DynamicsList()
     dynamics.add(
-        configure_dynamics, dynamic_function=dynamics, expand_dynamics=expand_dynamics, phase_dynamics=phase_dynamics
+        configure_dynamics,
+        dynamic_function=dynamics,
+        expand_dynamics=expand_dynamics,
+        phase_dynamics=phase_dynamics,
     )
 
     # Path constraint
@@ -119,7 +122,9 @@ def main():
     """
 
     # import the custom dynamics and configuration
-    from bioptim.examples.custom_model.custom_package.custom_dynamics import custom_configure_my_dynamics
+    from bioptim.examples.custom_model.custom_package.custom_dynamics import (
+        custom_configure_my_dynamics,
+    )
 
     # --- Prepare the ocp --- #
     ocp = prepare_ocp(
@@ -141,7 +146,7 @@ def main():
     sol = ocp.solve(solver=solver)
 
     # --- Show results --- #
-    sol.graphs(show_bounds=True)
+    # sol.graphs(show_bounds=True)
     sol.print_cost()
 
     # --- Animation --- #

tests/shard1/test_all_examples.py

@@ -1,6 +1,7 @@
+import numpy as np
 import os
 import pytest
-import numpy as np
+
 from bioptim import InterpolationType, PhaseDynamics
 
 
@@ -24,7 +25,10 @@ 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=True
+        biorbd_model_path=bioptim_folder + "/models/pendulum.bioMod",
+        n_shooting=41,
+        final_time=3,
+        expand_dynamics=True,
     )
 
 
@@ -194,7 +198,9 @@ def test__getting_started__example_external_forces():
 
 
 def test__getting_started__example_inequality_constraint():
-    from bioptim.examples.getting_started import example_inequality_constraint as ocp_module
+    from bioptim.examples.getting_started import (
+        example_inequality_constraint as ocp_module,
+    )
 
     bioptim_folder = os.path.dirname(ocp_module.__file__)
 
@@ -214,11 +220,13 @@ def test__getting_started__example_inequality_constraint():
 
 
 def test__getting_started__example_mapping():
-    from bioptim.examples.getting_started import example_mapping as ocp_module
+    pass
 
 
 def test__getting_started__example_multinode_constraints():
-    from bioptim.examples.getting_started import example_multinode_constraints as ocp_module
+    from bioptim.examples.getting_started import (
+        example_multinode_constraints as ocp_module,
+    )
 
     bioptim_folder = os.path.dirname(ocp_module.__file__)
 
@@ -231,7 +239,9 @@ def test__getting_started__example_multinode_constraints():
 
 
 def test__getting_started__example_multinode_objective():
-    from bioptim.examples.getting_started import example_multinode_objective as ocp_module
+    from bioptim.examples.getting_started import (
+        example_multinode_objective as ocp_module,
+    )
 
     bioptim_folder = os.path.dirname(ocp_module.__file__)
 
@@ -274,11 +284,11 @@ def test__getting_started__example_multiphase():
 
 
 def test__getting_started__example_optimal_time():
-    from bioptim.examples.getting_started import example_optimal_time as ocp_module
+    pass
 
 
 def test__getting_started__example_simulation():
-    from bioptim.examples.getting_started import example_optimal_time as ocp_module
+    pass
 
 
 # todo: Add example_variable_scaling.py?
@@ -299,7 +309,9 @@ def test__getting_started__pendulum():
 
 
 def test__getting_started__pendulum_constrained_states_controls():
-    from bioptim.examples.getting_started import pendulum_constrained_states_controls as ocp_module
+    from bioptim.examples.getting_started import (
+        pendulum_constrained_states_controls as ocp_module,
+    )
 
     bioptim_folder = os.path.dirname(ocp_module.__file__)
 
@@ -314,15 +326,15 @@ def test__getting_started__pendulum_constrained_states_controls():
 
 ## examples/moving_horizon_estimation
 def test__moving_horizon_estimation__mhe():
-    from bioptim.examples.moving_horizon_estimation import mhe as ocp_module
+    pass
 
 
 def test__muscle_driven_ocp__muscle_activations_tracker():
-    from bioptim.examples.muscle_driven_ocp import muscle_activations_tracker as ocp_module
+    pass
 
 
 def test__muscle_driven_ocp__muscle_excitations_tracker():
-    from bioptim.examples.muscle_driven_ocp import muscle_excitations_tracker as ocp_module
+    pass
 
 
 def test__muscle_driven_ocp__static_arm():
@@ -341,11 +353,13 @@ def test__muscle_driven_ocp__static_arm():
 
 
 def test__muscle_driven_with_contact__muscle_activations_contacts_tracker():
-    from bioptim.examples.muscle_driven_with_contact import muscle_activations_contacts_tracker as ocp_module
+    pass
 
 
 def test__optimal_time_ocp__multiphase_time_constraint():
-    from bioptim.examples.optimal_time_ocp import multiphase_time_constraint as ocp_module
+    from bioptim.examples.optimal_time_ocp import (
+        multiphase_time_constraint as ocp_module,
+    )
 
     bioptim_folder = os.path.dirname(ocp_module.__file__)
 
@@ -365,7 +379,9 @@ def test__optimal_time_ocp__multiphase_time_constraint():
 
 
 def test__optimal_time_ocp__pendulum_min_time_Lagrange():
-    from bioptim.examples.optimal_time_ocp import pendulum_min_time_Lagrange as ocp_module
+    from bioptim.examples.optimal_time_ocp import (
+        pendulum_min_time_Lagrange as ocp_module,
+    )
 
     bioptim_folder = os.path.dirname(ocp_module.__file__)
 
@@ -408,7 +424,9 @@ def test__optimal_time_ocp__time_constraint():
 
 
 def test__symmetrical_torque_driven_ocp__symmetry_by_constraint():
-    from bioptim.examples.symmetrical_torque_driven_ocp import symmetry_by_constraint as ocp_module
+    from bioptim.examples.symmetrical_torque_driven_ocp import (
+        symmetry_by_constraint as ocp_module,
+    )
 
     bioptim_folder = os.path.dirname(ocp_module.__file__)
 
@@ -420,7 +438,9 @@ def test__symmetrical_torque_driven_ocp__symmetry_by_constraint():
 
 
 def test__symmetrical_torque_driven_ocp__symmetry_by_mapping():
-    from bioptim.examples.symmetrical_torque_driven_ocp import symmetry_by_mapping as ocp_module
+    from bioptim.examples.symmetrical_torque_driven_ocp import (
+        symmetry_by_mapping as ocp_module,
+    )
 
     bioptim_folder = os.path.dirname(ocp_module.__file__)
 
@@ -432,7 +452,9 @@ def test__symmetrical_torque_driven_ocp__symmetry_by_mapping():
 
 
 def test__torque_driven_ocp__maximize_predicted_height_CoM():
-    from bioptim.examples.torque_driven_ocp import maximize_predicted_height_CoM as ocp_module
+    from bioptim.examples.torque_driven_ocp import (
+        maximize_predicted_height_CoM as ocp_module,
+    )
 
     bioptim_folder = os.path.dirname(ocp_module.__file__)
 
@@ -449,7 +471,9 @@ def test__torque_driven_ocp__maximize_predicted_height_CoM():
 
 
 def test__torque_driven_ocp__multi_biorbd_model():
-    from bioptim.examples.torque_driven_ocp import example_multi_biorbd_model as ocp_module
+    from bioptim.examples.torque_driven_ocp import (
+        example_multi_biorbd_model as ocp_module,
+    )
 
     bioptim_folder = os.path.dirname(ocp_module.__file__)
 
@@ -463,7 +487,9 @@ def test__torque_driven_ocp__multi_biorbd_model():
 
 
 def test__torque_driven_ocp__phase_transition_uneven_variable_number_by_mapping():
-    from bioptim.examples.torque_driven_ocp import phase_transition_uneven_variable_number_by_mapping as ocp_module
+    from bioptim.examples.torque_driven_ocp import (
+        phase_transition_uneven_variable_number_by_mapping as ocp_module,
+    )
 
     bioptim_folder = os.path.dirname(ocp_module.__file__)
 
@@ -477,7 +503,9 @@ def test__torque_driven_ocp__phase_transition_uneven_variable_number_by_mapping(
 
 
 def test__torque_driven_ocp__phase_transition_uneven_variable_number_by_bounds():
-    from bioptim.examples.torque_driven_ocp import phase_transition_uneven_variable_number_by_bounds as ocp_module
+    from bioptim.examples.torque_driven_ocp import (
+        phase_transition_uneven_variable_number_by_bounds as ocp_module,
+    )
 
     bioptim_folder = os.path.dirname(ocp_module.__file__)
 
@@ -1317,11 +1345,13 @@ def test__track__optimal_estimation():
 
 
 def test__torque_driven_ocp__track_markers_2D_pendulum():
-    from bioptim.examples.torque_driven_ocp import track_markers_2D_pendulum as ocp_module
+    pass
 
 
 def test__torque_driven_ocp__track_markers_with_torque_actuators():
-    from bioptim.examples.torque_driven_ocp import track_markers_with_torque_actuators as ocp_module
+    from bioptim.examples.torque_driven_ocp import (
+        track_markers_with_torque_actuators as ocp_module,
+    )
 
     bioptim_folder = os.path.dirname(ocp_module.__file__)
 
@@ -1349,7 +1379,9 @@ def test__torque_driven_ocp__trampo_quaternions():
 
 
 def test__torque_driven_ocp__minimize_segment_velocity():
-    from bioptim.examples.torque_driven_ocp import example_minimize_segment_velocity as ocp_module
+    from bioptim.examples.torque_driven_ocp import (
+        example_minimize_segment_velocity as ocp_module,
+    )
 
     bioptim_folder = os.path.dirname(ocp_module.__file__)
 
@@ -1418,7 +1450,9 @@ def test__getting_started__example_variable_scaling():
 
 
 def test__torque_driven_ocp__torque_activation_driven():
-    from bioptim.examples.torque_driven_ocp import torque_activation_driven as ocp_module
+    from bioptim.examples.torque_driven_ocp import (
+        torque_activation_driven as ocp_module,
+    )
 
     bioptim_folder = os.path.dirname(ocp_module.__file__)
 
@@ -1432,7 +1466,9 @@ def test__torque_driven_ocp__torque_activation_driven():
 
 
 def test__inverse_optimal_control__double_pendulum_torque_driven_IOCP():
-    from bioptim.examples.inverse_optimal_control import double_pendulum_torque_driven_IOCP as ocp_module
+    from bioptim.examples.inverse_optimal_control import (
+        double_pendulum_torque_driven_IOCP as ocp_module,
+    )
 
     bioptim_folder = os.path.dirname(ocp_module.__file__)
 
@@ -1445,7 +1481,9 @@ def test__inverse_optimal_control__double_pendulum_torque_driven_IOCP():
 
 
 def test__contact_and_muscle_forces_example():
-    from bioptim.examples.muscle_driven_with_contact import contact_forces_inequality_constraint_muscle as ocp_module
+    from bioptim.examples.muscle_driven_with_contact import (
+        contact_forces_inequality_constraint_muscle as ocp_module,
+    )
 
     bioptim_folder = os.path.dirname(ocp_module.__file__)
 
@@ -1485,3 +1523,9 @@ def test_min_max_example():
     ocp_module.prepare_ocp(
         bio_model_path=bioptim_folder + "/models/double_pendulum.bioMod",
     )
+
+
+def test_custom_model():
+    from bioptim.examples.custom_model.main import main as ocp_module
+
+    ocp_module()