new_contents: import pytest
  import toppra
  import numpy as np
  
  
  @pytest.fixture(scope="module")
  def barret_robot(rave_env):
      rave_env.Reset()
      rave_env.Load("data/lab1.env.xml")
      robot = rave_env.GetRobots()[0]
      yield robot
  
  
  @pytest.mark.parametrize("dof", [3, 5, 7])
  def test_torque_bound_barret(barret_robot, dof):
      barret_robot.SetActiveDOFs(range(dof))
      constraint = toppra.create_rave_torque_path_constraint(barret_robot)
      np.random.seed(0)
      path = toppra.SplineInterpolator(np.linspace(0, 1, 5), np.random.rand(5, dof))
      a, b, c, F, g, _, _ = constraint.compute_constraint_params(path, np.linspace(0, path.get_duration(), 5))
  
      
  
subject: add test