def METHOD_NAME(self):
    data = self.model.createData()
    q = pin.randomConfiguration(self.model)
    v = np.random.rand(self.model.nv)
    a = np.random.rand(self.model.nv)
    pin.forwardKinematics(self.model, data, q, v, a)
    T = pin.updateFramePlacement(self.model, data, self.frame_idx)
    self.assertApprox(T, data.oMi[self.parent_idx].act(self.frame_placement))
    v = pin.getFrameVelocity(self.model, data, self.frame_idx)
    self.assertApprox(v, self.frame_placement.actInv(data.v[self.parent_idx]))
    v = pin.getFrameVelocity(self.model, data, self.frame_idx, pin.ReferenceFrame.LOCAL)
    self.assertApprox(v, self.frame_placement.actInv(data.v[self.parent_idx]))
    v = pin.getFrameVelocity(self.model, data, self.frame_idx, pin.ReferenceFrame.WORLD)
    self.assertApprox(v, data.oMi[self.parent_idx].act(data.v[self.parent_idx]))
    v = pin.getFrameVelocity(self.model, data, self.frame_idx, pin.ReferenceFrame.LOCAL_WORLD_ALIGNED)
    self.assertApprox(v, pin.SE3(T.rotation, np.zeros(3)).act(self.frame_placement.actInv(data.v[self.parent_idx])))
    a = pin.getFrameAcceleration(self.model, data, self.frame_idx)
    self.assertApprox(a, self.frame_placement.actInv(data.a[self.parent_idx]))
    a = pin.getFrameAcceleration(self.model, data, self.frame_idx, pin.ReferenceFrame.LOCAL)
    self.assertApprox(a, self.frame_placement.actInv(data.a[self.parent_idx]))
    a = pin.getFrameAcceleration(self.model, data, self.frame_idx, pin.ReferenceFrame.WORLD)
    self.assertApprox(a, data.oMi[self.parent_idx].act(data.a[self.parent_idx]))
    a = pin.getFrameAcceleration(self.model, data, self.frame_idx, pin.ReferenceFrame.LOCAL_WORLD_ALIGNED)
    self.assertApprox(a, pin.SE3(T.rotation, np.zeros(3)).act(self.frame_placement.actInv(data.a[self.parent_idx])))
    a = pin.getFrameClassicalAcceleration(self.model, data, self.frame_idx)
    a = pin.getFrameClassicalAcceleration(self.model, data, self.frame_idx, pin.ReferenceFrame.LOCAL)
    a = pin.getFrameClassicalAcceleration(self.model, data, self.frame_idx, pin.ReferenceFrame.WORLD)
    a = pin.getFrameClassicalAcceleration(self.model, data, self.frame_idx, pin.ReferenceFrame.LOCAL_WORLD_ALIGNED)