old_contents: """This test suite contains tests to verify that TOPPRA can produce
  reasonable results to trajectories of very small movements. Almost
  zero.
  """
  
new_contents: """This test suite contains tests to verify that TOPPRA can produce
  reasonable results to trajectories of very small movements. Almost
  zero.
  """
  import pytest
  import numpy as np
  import toppra
  
  toppra.setup_logging(level="INFO")
  
  
  @pytest.mark.parametrize("scaling", [1e-1, 1e-2, 1e-3])
  @pytest.mark.parametrize("Ngrid", [101, 501, 1001])
  def test_scalar_zero_motion(scaling, Ngrid):
      """ The simple zero motion trajectory
      """
      waypts = [[0], [1e-8], [0]]
      path = toppra.SplineInterpolator([0, 0.5, 1.0], waypts)
      # NOTE: When constructing a path, you must "align" the waypoint
      # properly yourself. For instance, if the waypoints are [0, 1, 10]
      # like in the above example, the path position should be aligned
      # like [0, 0.1, 1.0]. If this is not done, the CubicSpline
      # Interpolator might result undesirable oscillating paths!
      vlim = np.array([[-10, 10]])
      alim = np.array([[-4, 4]])
      pc_vel = toppra.constraint.JointVelocityConstraint(vlim)
      pc_acc = toppra.constraint.JointAccelerationConstraint(
          alim, discretization_scheme=toppra.constraint.DiscretizationType.Interpolation)
  
      instance = toppra.algorithm.TOPPRA(
          [pc_vel, pc_acc], path, solver_wrapper='seidel',
          gridpoints=np.linspace(0, 1.0, Ngrid), scaling=scaling)
      jnt_traj, aux_traj, data = instance.compute_trajectory(0, 0, return_data=True)
      # Simply assert success
      assert jnt_traj is not None
  
  
subject: add a test case where seidel fails for zero motion