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Fixed some unittests that were broken after API changes

Carlos Mastalli requested to merge fix-unittest into devel

Recent changes in the SolverDDP and cost API creates that few broken unit-test. Unfortunately, due that we disable CI jobs, we're not able to detect them. With this PR I aim to mitigate some of this issues (reported #84 (closed)). Please note that there is still much room for improvement. The task accomplished here are:

  • Removed hard-coded Talos arm path, instead used loadTalosArm
  • Updated the SolverDDP API in test_ddp_contact
  • Increased the number of iteration and reduced the tolerance for test_contacts (@nmansard is this OK?)
  • Updated test_ddp_contact with ActivationModelWeightedQuad
  • Added commented code for all test files.

@rbudhira @nmansard please run unittest/all.py (uncommented lines) each time that you want to make a PR. It's very annoying to test each time this since we haven't enable the CI jobs.

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