Unit test ideas.

• Read osim and build pinnochio model: verify that the forward dynamics function with dummy values q=[1,2,3,4], qdot=[0.1,0.11,0.12,...], tau=[0.1,0.11,0.12,...], and check qddot values. Give always the same values. It will test either the kinematic chain and the parsing of inertial props.
• Read osim and build pinnochio model: compute the location of a marker, to make sure this is always the same when parsing of model. forward_kinematics(q) to get the location of one marker of the kinematic chain, for example the end effector body.
• ActuatorModel: I guess they are quite easy to test, instantiated with dummy values.
• kinematics and dynamics functions: test them with mock classes.