old_contents: import unittest
  import numpy as np
  import poppy_inverse_kinematics.robot_utils
  import poppy_inverse_kinematics.model
  import poppy_inverse_kinematics.model_config
  import config_test
  
  
  class TestModel(unittest.TestCase):
      def setUp(self):
  
          params = poppy_inverse_kinematics.model_config.from_urdf_file(config_test.urdf_file, config_test.base_elements, config_test.last_link_vector, base_elements_type=config_test.base_elements_type)
          self.robots = []
          methods = ["default", "symbolic", "hybrid"]
          target = [-0.1, 0.1, 0.1]
          for index, method in enumerate(methods):
              self.robots.append(poppy_inverse_kinematics.model.Model(params, computation_method=method, simplify=False))
              self.robots[index].target = target
  
      def test_ik(self):
          for robot in self.robots:
              robot.goto_target()
              robot.plot_model()
              np.testing.assert_almost_equal(robot.forward_kinematic(), robot.target, decimal=3)
  
  
  if __name__ == '__main__':
      unittest.main(verbosity=2)
  
new_contents: import unittest
  import numpy as np
  import poppy_inverse_kinematics.robot_utils
  import poppy_inverse_kinematics.model
  import poppy_inverse_kinematics.model_config
  import config_test
  
  
  class TestModel(unittest.TestCase):
      def setUp(self):
  
          params = poppy_inverse_kinematics.model_config.from_urdf_file(config_test.urdf_file, config_test.base_elements, config_test.last_link_vector, base_elements_type=config_test.base_elements_type)
          self.robots = []
          methods = ["default", "symbolic", "hybrid"]
          target = [-0.1, 0.1, 0.1]
          for index, method in enumerate(methods):
              self.robots.append(poppy_inverse_kinematics.model.Model(params, computation_method=method, simplify=False))
              self.robots[index].target = target
  
      def test_ik(self):
          for robot in self.robots:
              robot.goto_target()
              np.testing.assert_almost_equal(robot.forward_kinematic(), robot.target, decimal=3)
  
  
  if __name__ == '__main__':
      unittest.main(verbosity=2)
  
subject: Fix test