Merge pull request #70 from machines-in-motion/main

Merge main into devel

Author: MaximilienNaveau

.github/workflows/ci.yml

@@ -21,19 +21,19 @@ jobs:
     runs-on: "ubuntu-latest"
     strategy:
       matrix:
-        python-version: ["3.8", "3.9", "3.10", "3.11", "3.12", "3.13"]
+        python-version: ["3.9", "3.10", "3.11", "3.12", "3.13"]
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
         with:
           submodules: 'true'
-      - uses: actions/setup-python@v5
+      - uses: actions/setup-python@v6
         with:
           python-version: ${{ matrix.python-version }}
       - run: python -m pip install crocoddyl[build] proxsuite[build]
       - run: echo "CMAKE_PREFIX_PATH=$(cmeel cmake)" >> $GITHUB_ENV
       - run: cmake -B build -S .
       - run: cmake --build build -j 4
 
-      - run: python -m pip install osqp
+      - run: python -m pip install "osqp<1.0.0"
       - run: echo "LD_LIBRARY_PATH=$(cmeel lib)" >> $GITHUB_ENV
       - run: cmake --build build -t test

.github/workflows/nix.yml

@@ -18,7 +18,7 @@ jobs:
       matrix:
         os: [ubuntu, macos]
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
       - uses: cachix/install-nix-action@v31
       - uses: cachix/cachix-action@v16
         with:

.github/workflows/update-flake-lock.yml

@@ -10,7 +10,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v4
+        uses: actions/checkout@v5
       - name: Install Nix
         uses: DeterminateSystems/nix-installer-action@main
       - name: Update flake.lock

tests/python/test_clqr_osqp.py

@@ -12,6 +12,7 @@
 import pathlib
 
 import numpy as np
+import unittest
 
 python_path = pathlib.Path(".").absolute().parent.parent / "python"
 os.sys.path.insert(1, str(python_path))
@@ -23,34 +24,49 @@
 
 print(" TEST OSQP ".center(LINE_WIDTH, "-"))
 
-problem, xs_init, us_init = create_clqr_problem()
 
-ddp1 = CSQP(problem, "CustomOSQP")
-ddp2 = CSQP(problem, "OSQP")
-
-ddp1.with_callbacks = True
-ddp2.with_callbacks = True
-
-max_qp_iters = 10000
-ddp1.max_qp_iters = max_qp_iters
-ddp2.max_qp_iters = max_qp_iters
-
-eps_abs = 1e-8
-eps_rel = 0.0
-ddp1.eps_abs = eps_abs
-ddp2.eps_abs = eps_abs
-
-converged = ddp1.solve(xs_init, us_init, 1)
-converged = ddp2.solve(xs_init, us_init, 1)
-
-
-assert ddp1.qp_iters == ddp2.qp_iters
-
-set_tol = 1e-8
-assert np.linalg.norm(np.array(ddp1.xs) - np.array(ddp2.xs)) < set_tol, "Test failed"
-assert np.linalg.norm(np.array(ddp1.us) - np.array(ddp2.us)) < set_tol, "Test failed"
-assert np.linalg.norm(np.array(ddp1.lag_mul) - np.array(ddp2.lag_mul)) < set_tol, (
-    "Test failed"
-)
-for t in range(len(ddp1.y)):
-    assert np.linalg.norm(ddp1.y[t] - ddp2.y[t]) < set_tol, "Test failed"
+class TestCLQROSQP(unittest.TestCase):
+    def setUp(self):
+        self.problem, self.xs_init, self.us_init = create_clqr_problem()
+        self.ddp1 = CSQP(self.problem, "CustomOSQP")
+        self.ddp2 = CSQP(self.problem, "OSQP")
+        self.ddp1.with_callbacks = True
+        self.ddp2.with_callbacks = True
+        max_qp_iters = 10000
+        self.ddp1.max_qp_iters = max_qp_iters
+        self.ddp2.max_qp_iters = max_qp_iters
+        eps_abs = 1e-8
+        self.ddp1.eps_abs = eps_abs
+        self.ddp2.eps_abs = eps_abs
+
+    # @unittest.skip("Skipping this test as it seems that the \"OSQP\" solver does not converge as of 12/09/2025.")
+    def test_osqp_match(self):
+        self.ddp1.solve(self.xs_init, self.us_init, 1)
+        self.ddp2.solve(self.xs_init, self.us_init, 1)
+        set_tol = 1e-8
+        self.assertEqual(self.ddp1.qp_iters, self.ddp2.qp_iters)
+        self.assertTrue(
+            np.linalg.norm(np.array(self.ddp1.xs) -
+                           np.array(self.ddp2.xs)) < set_tol,
+            "Test failed: xs mismatch",
+        )
+        self.assertTrue(
+            np.linalg.norm(np.array(self.ddp1.us) -
+                           np.array(self.ddp2.us)) < set_tol,
+            "Test failed: us mismatch",
+        )
+        self.assertTrue(
+            np.linalg.norm(np.array(self.ddp1.lag_mul) -
+                           np.array(self.ddp2.lag_mul))
+            < set_tol,
+            "Test failed: lag_mul mismatch",
+        )
+        for t in range(len(self.ddp1.y)):
+            self.assertTrue(
+                np.linalg.norm(self.ddp1.y[t] - self.ddp2.y[t]) < set_tol,
+                f"Test failed: y mismatch at t={t}",
+            )
+
+
+if __name__ == "__main__":
+    unittest.main()