test/test_anchor.py::test_anchor_kkt_inert_at_q_nom
test/test_anchor.py::test_anchor_gradient_sign
test/test_anchor.py::test_anchor_pulls_toward_q_nom
test/test_anchor.py::test_per_joint_cost_vectors_kkt
test/test_anchor.py::test_floating_effort_vector_uses_actuator_width[default]
test/test_anchor.py::test_floating_effort_vector_uses_actuator_width[fc]
test/test_api_smoke.py::test_solve_result_accessors
test/test_api_smoke.py::test_per_batch_hyperparameter_setters
test/test_api_smoke.py::test_cost_weights_and_reset
test/test_api_smoke.py::test_linsys_and_admm_switches
test/test_api_smoke.py::test_hypotheses_estimators_and_policy
test/test_api_smoke.py::test_mpc_gato_run_mpc_fig8_fixed_pacing_deterministic
test/test_api_smoke.py::test_mpc_gato_run_mpc_fig8_uses_whole_goal
test/test_bindings_shapes.py::test_wrong_state_width_raises
test/test_bindings_shapes.py::test_wrong_traj_width_raises
test/test_bindings_shapes.py::test_wrong_reference_width_raises
test/test_bindings_shapes.py::test_wrong_f_ext_width_raises
test/test_bindings_shapes.py::test_wrong_per_knot_weights_shape_raises
test/test_bindings_shapes.py::test_strided_xu_view_matches_contiguous
test/test_bindings_shapes.py::test_broadcast_reference_and_f64_state_match_contiguous
test/test_bindings_shapes.py::test_fortran_order_f_ext_matches_c_order
test/test_build.py::test_build_end_to_end
test/test_codegen.py::test_regen_matches_vendored[indy7]
test/test_codegen.py::test_regen_matches_vendored[iiwa14]
test/test_codegen.py::test_regen_matches_vendored[go2]
test/test_codegen.py::test_unbounded_joint_rejected
test/test_codegen.py::test_missing_voxel_dependency_cannot_change_collision_geometry
test/test_common.py::test_figure8_shape_and_tiling
test/test_common.py::test_figure8_rotation_is_pure_z
test/test_common.py::test_trajectory_reference_window_and_clamp
test/test_common.py::test_trajectory_reference_validation
test/test_common.py::test_goal_reference_constant
test/test_common.py::test_initialize_warm_start_layout
test/test_contact_rows.py::test_masked_contact_sanitizer_smoke[al]
test/test_contact_rows.py::test_masked_contact_sanitizer_smoke[barrier]
test/test_contact_rows.py::test_masked_contact_sanitizer_smoke[admm]
test/test_contact_rows.py::test_contact_rows_telemetry_is_the_device_residual
test/test_contact_rows.py::test_contact_rows_move_the_arm_ee_to_a_violated_target[al]
test/test_contact_rows.py::test_contact_rows_move_the_arm_ee_to_a_violated_target[admm]
test/test_contact_rows.py::test_contact_rows_mask_selects_knots
test/test_contact_rows.py::test_go2_contact_rows_keep_the_feet_under_a_lateral_goal
test/test_contact_rows.py::test_go2_gait_programmer_installs_foot_rows
test/test_contact_rows.py::test_go2_contact_rows_lift_a_foot_in_the_horizon
test/test_controller.py::test_step_result_wiring
test/test_controller.py::test_shift_warm_start_math
test/test_controller.py::test_hold_warm_start
test/test_controller.py::test_warm_start_mode_validated
test/test_controller.py::test_explicit_seed_matches_raw_rti_loop[zero-tail]
test/test_controller.py::test_explicit_seed_matches_raw_rti_loop[hold]
test/test_controller.py::test_linsys_defaults_fixed_base
test/test_controller.py::test_linsys_defaults_floating
test/test_controller.py::test_linsys_tuned_entry_pickup
test/test_controller.py::test_linsys_auto_switches_on_pred_err
test/test_controller.py::test_reseed_off_by_default
test/test_controller.py::test_reseed_triggers_hold_seed_and_forces_cold
test/test_controller.py::test_reseed_deterministic
test/test_controller.py::test_linsys_auto_default_deterministic
test/test_distribution_artifacts.py::test_wheel_is_pure_python_without_native_modules
test/test_distribution_artifacts.py::test_sdist_contains_owned_build_sources
test/test_dynamics_fingerprint.py::test_fingerprint_table_wellformed_and_urdfs_pinned
test/test_dynamics_fingerprint.py::test_device_dynamics_match_fingerprint
test/test_exact_hessian.py::test_projection_matches_numpy_lambda_zero
test/test_exact_hessian.py::test_contraction_matches_pinocchio_fd
test/test_examples.py::test_intro_example_syntax[01_single_solve.py]
test/test_examples.py::test_intro_example_syntax[02_batched_solve.py]
test/test_examples.py::test_intro_example_syntax[03_mpc_loop.py]
test/test_examples.py::test_intro_example_syntax[04_gym_mpc.py]
test/test_examples.py::test_intro_example_syntax[05_build_your_robot.py]
test/test_examples.py::test_intro_example_syntax[06_constraints.py]
test/test_examples.py::test_intro_example_syntax[07_go2_floating.py]
test/test_examples.py::test_intro_example_syntax[08_linsys_and_autotune.py]
test/test_examples.py::test_merge_checkpoint_dry_run
test/test_examples.py::test_merge_checkpoint_requires_quiet_declaration
test/test_examples.py::test_seed_ab_preview_and_refusal[seed-ab]
test/test_examples.py::test_seed_ab_preview_and_refusal[boundaries]
test/test_examples.py::test_call_boundary_refuses_unassigned_window
test/test_examples.py::test_cpu_baseline_uses_selected_interpreter
test/test_examples.py::test_call_boundary_check_only_has_no_timing_output
test/test_f_ext.py::test_per_knot_uniform_matches_broadcast
test/test_f_ext.py::test_per_knot_varying_wrench_changes_solution
test/test_f_ext.py::test_per_knot_deterministic
test/test_f_ext.py::test_contact_dqdd_dfc_vs_fd
test/test_f_ext.py::test_contact_dqdd_dq_total_vs_fd
test/test_f_ext.py::test_contact_zero_wrench_structure
test/test_f_ext.py::test_wrong_per_knot_shape_raises
test/test_f_ext.py::test_fc_adapter_matches_oracle
test/test_f_ext.py::test_fc_adapter_dq_carries_chain_term
test/test_f_ext.py::test_fc_adapter_dq_zero_wrench_bitwise
test/test_f_ext.py::test_fc_solve_finite_deterministic
test/test_f_ext.py::test_lin_u_rows_strided_input_roundtrip
test/test_f_ext.py::test_fc_box_pin_zeroes_fc
test/test_f_ext.py::test_fc_ref_zero_is_bitwise_noop
test/test_f_ext.py::test_fc_ref_pulls_fc_toward_reference
test/test_f_ext.py::test_fc_ref_validation
test/test_f_ext.py::test_mpc_gato_control_widths
test/test_f_ext.py::test_mpc_gato_fc_config_needs_fc_build
test/test_f_ext.py::test_wrench_identifier_recovers_known_wrench
test/test_f_ext.py::test_wrench_identifier_midpoint_beats_startpoint
test/test_f_ext.py::test_wrench_identifier_vertical_force_unobservable_at_zero_config
test/test_f_ext.py::test_wrench_identifier_weight_mode_is_gravity_aligned
test/test_f_ext.py::test_wrench_id_rejects_batch
test/test_f_ext.py::test_identified_wrench_sampler_rows
test/test_f_ext.py::test_mpc_gato_estimator_option
test/test_floating_go2.py::test_module_dims
test/test_floating_go2.py::test_interface_shapes
test/test_floating_go2.py::test_sim_forward_vs_pinocchio
test/test_floating_go2.py::test_linearization_vs_pin_fd
test/test_floating_go2.py::test_c0_is_manifold_gap
test/test_floating_go2.py::test_solve_smoke_and_determinism
test/test_floating_go2.py::test_fc_module_dims
test/test_floating_go2.py::test_fc_interface_slots
test/test_floating_go2.py::test_fc_sim_forward_vs_pinocchio
test/test_floating_go2.py::test_fc_zero_wrench_sim_is_bitwise_default
test/test_floating_go2.py::test_fc_linearization_vs_pin_fd
test/test_floating_go2.py::test_fc_chain_term_is_real
test/test_floating_go2.py::test_fc_zero_wrench_linearization_is_bitwise_default
test/test_floating_go2.py::test_fc_solve_finite_deterministic
test/test_floating_go2.py::test_fc_box_pin_zeroes_fc
test/test_floating_go2.py::test_fc_ref_pulls_feet_toward_reference
test/test_floating_go2.py::test_fc_debug_contact_oracle_is_fixed_base_only
test/test_floating_rowgroups.py::test_telemetry_off_the_solver_path
test/test_floating_rowgroups.py::test_limit_groups_actuated
test/test_floating_rowgroups.py::test_telemetry_matches_numpy_oracle
test/test_floating_rowgroups.py::test_base_slots_never_counted
test/test_floating_rowgroups.py::test_mechanisms_reduce_violation
test/test_floating_rowgroups.py::test_ee_terminal_telemetry_matches_pin_fk
test/test_floating_rowgroups.py::test_collision_telemetry
test/test_floating_rowgroups.py::test_solve_moves_toward_displaced_anchor
test/test_floating_rowgroups.py::test_collision_fold_mechanisms_reduce_violation
test/test_floating_rowgroups.py::test_smem_attribute_regrows_after_collision_enable
test/test_floating_worlds.py::test_state_difference_matches_pinocchio
test/test_floating_worlds.py::test_check_floating_state
test/test_floating_worlds.py::test_rk4_actuated_scatter_matches_padded
test/test_floating_worlds.py::test_mujoco_go2_is_the_same_robot
test/test_floating_worlds.py::test_mujoco_no_phantom_contacts
test/test_floating_worlds.py::test_mujoco_standing_drop_settles_on_four_feet
test/test_floating_worlds.py::test_mujoco_standing_drop_deterministic
test/test_floating_worlds.py::test_device_dynamics_match_go2_fingerprint
test/test_floating_worlds.py::test_mpc_closed_loop_settles_upright
test/test_floating_worlds.py::test_mpc_closed_loop_deterministic
test/test_floating_worlds.py::test_controller_floating_state_checks_and_pred_err
test/test_floating_worlds.py::test_fc_mpc_stands_at_height
test/test_floating_worlds.py::test_fc_mpc_holds_height_where_contactless_collapses
test/test_floating_worlds.py::test_fc_mpc_standing_deterministic
test/test_floating_worlds.py::test_fc_mpc_stands_through_gait_programmer
test/test_floating_worlds.py::test_fc_mpc_stands_with_friction_cones
test/test_floating_worlds.py::test_fc_mpc_stands_with_foot_rows
test/test_gait.py::test_duty_factor_and_period[bound]
test/test_gait.py::test_duty_factor_and_period[pace]
test/test_gait.py::test_duty_factor_and_period[stand]
test/test_gait.py::test_duty_factor_and_period[trot]
test/test_gait.py::test_duty_factor_and_period[walk]
test/test_gait.py::test_trot_pairs_and_bound_pairs
test/test_gait.py::test_window_is_a_rolling_slice
test/test_gait.py::test_swing_phase_progress
test/test_gait.py::test_fc_pin_mask_and_fn_ref_windows
test/test_gait.py::test_swing_curve_and_foothold
test/test_gait.py::test_base_reference_rotates_command
test/test_gait.py::test_validation
test/test_kernel_gates.py::test_kernel_gate[bdsv_factor_solve]
test/test_kernel_gates.py::test_kernel_gate[bdsv_vs_pcg]
test/test_kernel_gates.py::test_kernel_gate[ee_rows]
test/test_kernel_gates.py::test_kernel_gate[gamma_parity]
test/test_kernel_gates.py::test_kernel_gate[pcg_vs_cpu]
test/test_linsys_autotune.py::test_fit_tau_recovers_crossing
test/test_linsys_autotune.py::test_fit_tau_noisy_still_recovers
test/test_linsys_autotune.py::test_fit_tau_pcg_always_wins
test/test_linsys_autotune.py::test_fit_tau_bdsv_always_wins
test/test_linsys_autotune.py::test_fit_tau_rejects_constant_trace
test/test_linsys_autotune.py::test_decide_policy_edges
test/test_linsys_autotune.py::test_save_lookup_roundtrip
test/test_linsys_autotune.py::test_resolve_precedence
test/test_linsys_autotune.py::test_resolve_wired_defaults
test/test_manifold.py::test_difference_matches_pinocchio
test/test_manifold.py::test_retract_matches_pinocchio
test/test_manifold.py::test_difference_inverts_retract
test/test_mechanism_oracles.py::test_admm_interval_kkt[0]
test/test_mechanism_oracles.py::test_admm_interval_kkt[1]
test/test_mechanism_oracles.py::test_admm_interval_kkt[2]
test/test_mechanism_oracles.py::test_admm_interval_kkt[3]
test/test_mechanism_oracles.py::test_al_phr_matches_admm[0]
test/test_mechanism_oracles.py::test_al_phr_matches_admm[1]
test/test_mechanism_oracles.py::test_al_phr_matches_admm[2]
test/test_mechanism_oracles.py::test_al_phr_matches_admm[3]
test/test_mechanism_oracles.py::test_admm_scipy_crosscheck
test/test_mechanism_oracles.py::test_admm_dual_warm_start
test/test_mechanism_oracles.py::test_admm_fixed_rho_factor_reuse_structure
test/test_mechanism_oracles.py::test_certificate_dual_axes_with_real_multipliers
test/test_mechanism_oracles.py::test_rb_grad_hess_finite_difference[2.0]
test/test_mechanism_oracles.py::test_rb_grad_hess_finite_difference[0.5]
test/test_mechanism_oracles.py::test_rb_grad_hess_finite_difference[0.11]
test/test_mechanism_oracles.py::test_rb_grad_hess_finite_difference[0.1]
test/test_mechanism_oracles.py::test_rb_grad_hess_finite_difference[0.09]
test/test_mechanism_oracles.py::test_rb_grad_hess_finite_difference[0.02]
test/test_mechanism_oracles.py::test_rb_grad_hess_finite_difference[0.0]
test/test_mechanism_oracles.py::test_rb_grad_hess_finite_difference[-0.3]
test/test_mechanism_oracles.py::test_rb_c2_continuity_at_delta
test/test_mechanism_oracles.py::test_rb_matches_log_barrier_interior_and_finite_infeasible
test/test_mechanism_oracles.py::test_al_elastic_hinge_c1_at_saturation_and_fd[0.0]
test/test_mechanism_oracles.py::test_al_elastic_hinge_c1_at_saturation_and_fd[0.1]
test/test_mechanism_oracles.py::test_al_elastic_hinge_c1_at_saturation_and_fd[0.24]
test/test_mechanism_oracles.py::test_al_elastic_equality_c1_both_seams[-0.2]
test/test_mechanism_oracles.py::test_al_elastic_equality_c1_both_seams[0.0]
test/test_mechanism_oracles.py::test_al_elastic_equality_c1_both_seams[0.2]
test/test_mechanism_oracles.py::test_admm_z_update_hard_soft_and_limit
test/test_mechanism_oracles.py::test_admm_elastic_solves_quadratic_penalty
test/test_mechanism_oracles.py::test_admm_elastic_hard_path_untouched_and_sigma_limit
test/test_mechanism_oracles.py::test_al_elastic_solves_l1_penalty
test/test_mechanism_oracles.py::test_elastic_l1_vs_quadratic_distinction
test/test_mechanism_oracles.py::test_soc_project_properties[0]
test/test_mechanism_oracles.py::test_soc_project_properties[1]
test/test_mechanism_oracles.py::test_soc_project_properties[2]
test/test_mechanism_oracles.py::test_soc_project_properties[3]
test/test_mechanism_oracles.py::test_soc_project_jac_fd[inside]
test/test_mechanism_oracles.py::test_soc_project_jac_fd[polar]
test/test_mechanism_oracles.py::test_soc_project_jac_fd[outside]
test/test_mechanism_oracles.py::test_al_soc_value_grad_hess_fd[0]
test/test_mechanism_oracles.py::test_al_soc_value_grad_hess_fd[1]
test/test_mechanism_oracles.py::test_al_soc_value_grad_hess_fd[2]
test/test_mechanism_oracles.py::test_al_soc_scalar_reduces_to_hinge
test/test_mechanism_oracles.py::test_al_soc_phr_kkt[0]
test/test_mechanism_oracles.py::test_al_soc_phr_kkt[1]
test/test_mechanism_oracles.py::test_al_soc_phr_kkt[2]
test/test_mechanism_oracles.py::test_al_soc_phr_kkt[3]
test/test_mechanism_oracles.py::test_admm_soc_matches_al_soc[0]
test/test_mechanism_oracles.py::test_admm_soc_matches_al_soc[1]
test/test_mechanism_oracles.py::test_admm_soc_matches_al_soc[2]
test/test_mechanism_oracles.py::test_admm_soc_matches_al_soc[3]
test/test_mechanism_oracles.py::test_al_soc_phr_matches_scipy[0]
test/test_mechanism_oracles.py::test_al_soc_phr_matches_scipy[1]
test/test_mechanism_oracles.py::test_admm_soc_soft_is_quadratic_penalty
test/test_mechanism_oracles.py::test_pyramid_facet_geometry
test/test_mpc_initialization.py::test_explicit_controller_seed_is_copied_and_first_state_replaced
test/test_mpc_initialization.py::test_invalid_controller_seed_rejected[seed0]
test/test_mpc_initialization.py::test_invalid_controller_seed_rejected[seed1]
test/test_mpc_initialization.py::test_invalid_controller_seed_rejected[seed2]
test/test_mpc_initialization.py::test_floating_explicit_seed_rejects_invalid_tail_quaternion
test/test_mpc_initialization.py::test_pendulum_state_is_on_manifold_and_preserves_robot_velocity[0.0]
test/test_mpc_initialization.py::test_pendulum_state_is_on_manifold_and_preserves_robot_velocity[0.3]
test/test_mpc_initialization.py::test_pendulum_state_is_on_manifold_and_preserves_robot_velocity[angle2]
test/test_packaging.py::test_import_without_heavy_deps
test/test_packaging.py::test_lazy_exports_resolve_to_modules
test/test_packaging.py::test_registry_schema
test/test_packaging.py::test_available_shape
test/test_packaging.py::test_bsqp_constructs_and_solves_without_pinocchio
test/test_packaging.py::test_module_filename_parsing[bsqpN8_testbot_indy7.cpython-312-x86_64-linux-gnu.so-expect0]
test/test_packaging.py::test_module_filename_parsing[bsqpN16_indy7_fc.cpython-312-x86_64-linux-gnu.so-expect1]
test/test_packaging.py::test_module_filename_parsing[bsqpN16_iiwa14_eh.cpython-312-x86_64-linux-gnu.so-expect2]
test/test_packaging.py::test_module_filename_parsing[bsqpN16_go2.cpython-312-x86_64-linux-gnu.so-expect3]
test/test_parity_golden.py::test_golden[indy7-8-default-pcg]
test/test_parity_golden.py::test_golden[indy7-8-default-bdsv]
test/test_parity_golden.py::test_golden[indy7-16-default-pcg]
test/test_parity_golden.py::test_golden[indy7-16-default-bdsv]
test/test_parity_golden.py::test_golden[indy7-16-default-admm_ee_pcg]
test/test_parity_golden.py::test_golden[indy7-16-default-collision_al]
test/test_parity_golden.py::test_golden[indy7-16-default-collision_admm]
test/test_parity_golden.py::test_golden[indy7-32-default-pcg]
test/test_parity_golden.py::test_golden[indy7-32-default-bdsv]
test/test_parity_golden.py::test_golden[indy7-46-default-pcg]
test/test_parity_golden.py::test_golden[indy7-46-default-bdsv]
test/test_parity_golden.py::test_golden[indy7-64-default-pcg]
test/test_parity_golden.py::test_golden[indy7-64-default-bdsv]
test/test_parity_golden.py::test_golden[indy7-128-default-pcg]
test/test_parity_golden.py::test_golden[indy7-128-default-bdsv]
test/test_parity_golden.py::test_golden[iiwa14-8-default-pcg]
test/test_parity_golden.py::test_golden[iiwa14-8-default-bdsv]
test/test_parity_golden.py::test_golden[iiwa14-16-default-pcg]
test/test_parity_golden.py::test_golden[iiwa14-16-default-bdsv]
test/test_parity_golden.py::test_golden[iiwa14-16-default-admm_ee_pcg]
test/test_parity_golden.py::test_golden[iiwa14-16-default-collision_al]
test/test_parity_golden.py::test_golden[iiwa14-16-default-collision_admm]
test/test_parity_golden.py::test_golden[iiwa14-32-default-pcg]
test/test_parity_golden.py::test_golden[iiwa14-32-default-bdsv]
test/test_parity_golden.py::test_golden[iiwa14-46-default-pcg]
test/test_parity_golden.py::test_golden[iiwa14-46-default-bdsv]
test/test_parity_golden.py::test_golden[iiwa14-64-default-pcg]
test/test_parity_golden.py::test_golden[iiwa14-64-default-bdsv]
test/test_parity_golden.py::test_golden[iiwa14-128-default-pcg]
test/test_parity_golden.py::test_golden[iiwa14-128-default-bdsv]
test/test_parity_golden.py::test_golden[go2-16-default-pcg]
test/test_parity_golden.py::test_golden[go2-16-default-bdsv]
test/test_parity_golden.py::test_golden[go2-16-fc-pcg]
test/test_parity_golden.py::test_golden[go2-16-fc-bdsv]
test/test_parity_golden.py::test_golden[go2-16-fc-masked_contact_al]
test/test_parity_golden.py::test_golden[go2-16-fc-masked_contact_admm]
test/test_parity_golden.py::test_golden[indy7-16-fc-pcg]
test/test_parity_golden.py::test_golden[indy7-16-fc-bdsv]
test/test_parity_golden.py::test_golden[iiwa14-16-fc-pcg]
test/test_parity_golden.py::test_golden[iiwa14-16-fc-bdsv]
test/test_parity_golden.py::test_golden[indy7-16-eh-bdsv]
test/test_parity_golden.py::test_golden[iiwa14-16-eh-bdsv]
test/test_policy.py::test_done_fires_one_knot_after_the_last_full_window[4-4]
test/test_policy.py::test_done_fires_one_knot_after_the_last_full_window[5-4]
test/test_policy.py::test_done_fires_one_knot_after_the_last_full_window[40-8]
test/test_policy.py::test_done_fires_one_knot_after_the_last_full_window[13-5]
test/test_policy.py::test_window_and_done_agree_for_exactly_one_horizon
test/test_policy.py::test_trajectory_reference_validation
test/test_policy.py::test_goal_reference_constant_and_never_done
test/test_receipt_contract.py::test_receipt_scope_and_fail_closed_ci
test/test_receipt_contract.py::test_receipt_refuses_selection[args0-]
test/test_receipt_contract.py::test_receipt_refuses_selection[args1--k smoke]
test/test_receipt_contract.py::test_expected_receipt_collection
test/test_receipt_contract.py::test_native_identity_is_content_based
test/test_receipt_contract.py::test_receipt_native_modules_match_sources
test/test_row_masks.py::test_all_true_mask_is_bitwise_unmasked[al]
test/test_row_masks.py::test_all_true_mask_is_bitwise_unmasked[admm]
test/test_row_masks.py::test_fully_masked_al_group_is_bitwise_absent
test/test_row_masks.py::test_mask_window_gates_knots
test/test_row_masks.py::test_vector_kind_mask_is_knot_level
test/test_row_masks.py::test_go2_masked_fc_pin_acts_on_its_knots
test/test_row_masks.py::test_go2_per_knot_fc_ref
test/test_row_masks.py::test_go2_gait_programmer_stand_is_the_standing_setpoint
test/test_rowgroups.py::test_telemetry_off_the_solver_path
test/test_rowgroups.py::test_limit_bounds_match_urdf
test/test_rowgroups.py::test_telemetry_matches_numpy_oracle
test/test_rowgroups.py::test_relaxed_barrier_changes_solution_and_stays_finite
test/test_rowgroups.py::test_relaxed_barrier_infeasible_start_no_nan
test/test_rowgroups.py::test_certificate_matches_telemetry
test/test_rowgroups.py::test_admm_enforces_boxes
test/test_rowgroups.py::test_admm_deterministic_and_warmstart_stable
test/test_rowgroups.py::test_al_enforces_boxes
test/test_rowgroups.py::test_al_holds_binding_optimum
test/test_rowgroups.py::test_al_deterministic_and_duals
test/test_rowgroups.py::test_al_no_drift_at_insufficient_rho
test/test_rowgroups.py::test_soft_toggle_elastic_and_hard_parity
test/test_rowgroups.py::test_certificate_dual_axes_with_al
test/test_rowgroups.py::test_set_row_group_bounds_roundtrip
test/test_rowgroups.py::test_ee_telemetry_matches_pinocchio
test/test_rowgroups.py::test_ee_equality_al_converges_when_reachable
test/test_rowgroups.py::test_ee_equality_admm_converges_when_reachable
test/test_rowgroups.py::test_ee_admm_certificate_and_determinism
test/test_rowgroups.py::test_ee_certificate_and_determinism
test/test_rowgroups.py::test_telemetry_deterministic
test/test_rowgroups.py::test_lin_u_descriptor_roundtrip_and_telemetry
test/test_rowgroups.py::test_u_cone_normalization_is_scale_invariant
test/test_rowgroups.py::test_u_cone_soc_admm_enforced
test/test_rowgroups.py::test_u_cone_soc_al_enforced
test/test_rowgroups.py::test_u_cone_pyramid_enforced
test/test_rowgroups.py::test_u_cone_barrier_reduces_margin
test/test_smoke_solve.py::test_solve_finite_and_deterministic[1-iiwa14-8]
test/test_smoke_solve.py::test_solve_finite_and_deterministic[1-iiwa14-16]
test/test_smoke_solve.py::test_solve_finite_and_deterministic[1-iiwa14-32]
test/test_smoke_solve.py::test_solve_finite_and_deterministic[1-iiwa14-46]
test/test_smoke_solve.py::test_solve_finite_and_deterministic[1-iiwa14-64]
test/test_smoke_solve.py::test_solve_finite_and_deterministic[1-iiwa14-128]
test/test_smoke_solve.py::test_solve_finite_and_deterministic[1-indy7-8]
test/test_smoke_solve.py::test_solve_finite_and_deterministic[1-indy7-16]
test/test_smoke_solve.py::test_solve_finite_and_deterministic[1-indy7-32]
test/test_smoke_solve.py::test_solve_finite_and_deterministic[1-indy7-46]
test/test_smoke_solve.py::test_solve_finite_and_deterministic[1-indy7-64]
test/test_smoke_solve.py::test_solve_finite_and_deterministic[1-indy7-128]
test/test_smoke_solve.py::test_solve_finite_and_deterministic[8-iiwa14-8]
test/test_smoke_solve.py::test_solve_finite_and_deterministic[8-iiwa14-16]
test/test_smoke_solve.py::test_solve_finite_and_deterministic[8-iiwa14-32]
test/test_smoke_solve.py::test_solve_finite_and_deterministic[8-iiwa14-46]
test/test_smoke_solve.py::test_solve_finite_and_deterministic[8-iiwa14-64]
test/test_smoke_solve.py::test_solve_finite_and_deterministic[8-iiwa14-128]
test/test_smoke_solve.py::test_solve_finite_and_deterministic[8-indy7-8]
test/test_smoke_solve.py::test_solve_finite_and_deterministic[8-indy7-16]
test/test_smoke_solve.py::test_solve_finite_and_deterministic[8-indy7-32]
test/test_smoke_solve.py::test_solve_finite_and_deterministic[8-indy7-46]
test/test_smoke_solve.py::test_solve_finite_and_deterministic[8-indy7-64]
test/test_smoke_solve.py::test_solve_finite_and_deterministic[8-indy7-128]
test/test_smoke_solve.py::test_per_knot_weights_match_scalar_path
test/test_smoke_solve.py::test_arbitrary_batch_size
test/test_smoke_solve.py::test_terminal_merit_ignores_stale_shared_memory
test/test_worlds.py::test_mujoco_is_the_same_robot
test/test_worlds.py::test_probe_tip_drop_finds_contact_point
test/test_worlds.py::test_mujoco_no_phantom_self_contacts
test/test_worlds.py::test_mujoco_table_press_and_determinism
test/test_worlds.py::test_mpc_through_mujoco_world_reaches_goal
test/test_worlds.py::test_default_world_fixed_pacing_deterministic
test/test_worlds.py::test_fig8_with_pendulum_keeps_augmented_state_out_of_solver
test/test_worlds.py::test_custom_world_rejects_pendulum_and_fext
test/test_worlds.py::test_goal_dwell_gate_delays_reach_and_rejects_fly_through
test/test_worlds.py::test_goal_ramp_reference_delays_arrival
test/test_fig7_validation.py::test_fig7_holdout_is_frozen_and_separate
test/test_fig7_validation.py::test_fig7_summary_separates_success_feasibility_and_completion
test/test_fig7_validation.py::test_fig7_instrumentation_preserves_unclipped_trajectory
test/test_fig7_validation.py::test_fig7_identifier_observes_clamped_torque
test/test_limits_closed_loop.py::test_admm_velocity_box_holds_in_closed_loop
test/test_examples.py::test_intro_example_syntax[09_mpc_with_limits.py]
test/test_register_robot.py::test_register_writes_headers_and_manifest
test/test_register_robot.py::test_register_rejects_bad_name_and_missing_urdf
test/test_register_robot.py::test_unregistered_robot_raises_with_register_hint
test/test_register_robot.py::test_module_key_tracks_inputs
test/test_register_robot.py::test_first_solver_compiles_once_then_hits_cache
test/test_arrays.py::test_kind_and_host_conversions
test/test_arrays.py::test_device_path_matches_host_path
test/test_arrays.py::test_device_path_jax
test/test_arrays.py::test_device_warm_start_and_device_mismatch
test/test_arrays.py::test_controller_returns_callers_kind
test/test_register_robot.py::test_vendored_robot_compiles_from_bundled_headers
test/test_examples.py::test_intro_example_syntax[10_torch_jax_arrays.py]
test/test_cpp_interface.py::test_paths_resolve_vendored_robot
test/test_cpp_interface.py::test_paths_cli_formats
test/test_cpp_interface.py::test_standalone_cpp_example_builds_and_runs
