def METHOD_NAME(self):
    """ Test forward dynamics of robot frame: specify the angles,
        joint vels and torques, check the joint accelerations. """
    # specify joint angles, joint vels, torques
    theta = np.pi/3
    torque_hip = 0
    torque_knee = 0
    qs = [-theta, 2 * theta, -theta, -theta, 2*theta, -theta]
    vs = [0., 0., 0., 0., 0., 0.]
    torques = [0., torque_knee, torque_hip, torque_hip, torque_knee, 0.]
    # construct known values
    values = gtsam.Values()
    k = 0
    for joint in self.robot().joints():
        j = joint.id()
        gtd.InsertTorque(values, j, k, torques[j])
        gtd.InsertJointAngle(values, j, k, qs[j])
        gtd.InsertJointVel(values, j, k, vs[j])
    torso_pose = gtsam.Pose3(gtsam.Rot3(), gtsam.Point3(0, 0, 0.55))
    torso_i = self.robot().link("torso").id()
    gtd.InsertPose(values, torso_i, k, torso_pose)
    gtd.InsertTwist(values, torso_i, k, np.zeros(6))
    # step forward dynamics
    self.jr_simulator.step_robot_dynamics(k, values)
    # check joint accelerations
    q_accels = gtd.DynamicsGraph.jointAccelsMap(self.robot(),
                                                values, k)
    expected_q_accels = self.cal_jr_accels(theta, torque_hip, torque_knee)
    for joint in self.robot().joints():
        name = joint.name()
        self.assertAlmostEqual(q_accels[name],
                               expected_q_accels[name], places=7)