diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 389cf04..8902ccc 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -69,7 +69,7 @@ jobs: -ra --durations=15 --junitxml=test-results/core.xml --cov=src/cbfkit/controllers --cov=src/cbfkit/optimization --cov=src/cbfkit/simulation --cov-report=xml - - uses: actions/upload-artifact@v5 + - uses: actions/upload-artifact@v7 if: always() with: name: core-python-${{ matrix.python-version }} @@ -95,7 +95,7 @@ jobs: - run: >- uv run --no-sync pytest -m slow tests --ignore=tests/test_mujoco -ra --durations=15 --junitxml=test-results/examples.xml - - uses: actions/upload-artifact@v5 + - uses: actions/upload-artifact@v7 if: always() with: name: examples @@ -131,7 +131,7 @@ jobs: - run: >- uv run --no-sync pytest tests/test_mujoco -ra --durations=15 --junitxml=test-results/mujoco.xml - - uses: actions/upload-artifact@v5 + - uses: actions/upload-artifact@v7 if: always() with: name: mujoco @@ -237,7 +237,9 @@ jobs: - name: Verify wheel outside checkout run: | python -m venv "$RUNNER_TEMP/wheel-env" - "$RUNNER_TEMP/wheel-env/bin/pip" install dist/*.whl 'mujoco==3.11.0' + for wheel in dist/*.whl; do + "$RUNNER_TEMP/wheel-env/bin/pip" install "${wheel}[mujoco]" + done cd "$RUNNER_TEMP" "$RUNNER_TEMP/wheel-env/bin/python" "$GITHUB_WORKSPACE/scripts/check_installed_package.py" --mujoco - name: Verify sdist outside checkout diff --git a/.github/workflows/integration.yml b/.github/workflows/integration.yml index e94c8d3..d60dee7 100644 --- a/.github/workflows/integration.yml +++ b/.github/workflows/integration.yml @@ -55,7 +55,7 @@ jobs: uv run --no-sync pytest -ra --durations=15 --junitxml=test-results/g1.xml tests/test_mujoco/test_g1.py tests/test_mujoco/test_unitree_policy.py tests/test_mujoco/test_amo_policy.py tests/test_mujoco/test_groot_policy.py - - uses: actions/upload-artifact@v5 + - uses: actions/upload-artifact@v7 if: always() with: name: g1-integration-results @@ -77,7 +77,7 @@ jobs: python -c 'import jax, torch; assert torch.cuda.is_available(); assert any(d.platform == "gpu" for d in jax.devices())' python -m pip install --no-deps -e . - run: python -m pytest -ra --junitxml=test-results/cuda.xml tests/test_wrappers/test_torch_safety_filter.py - - uses: actions/upload-artifact@v5 + - uses: actions/upload-artifact@v7 if: always() with: name: cuda-integration-results diff --git a/pyproject.toml b/pyproject.toml index c0aa145..17f9f6a 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -74,7 +74,7 @@ cvxopt = [ codegen = ["black>=23.12.1,<27.0"] # MuJoCo/MJX plant backend. mujoco and mujoco-mjx MUST be pinned to the same # version: mjx does not upper-bound mujoco and a skew crashes at import. -mujoco = ["mujoco==3.11.0", "mujoco-mjx==3.11.0"] +mujoco = ["mujoco==3.13.0", "mujoco-mjx==3.13.0"] # --- Convenience umbrella extras --- solvers = ["cbfkit[casadi]", "cbfkit[cvxopt]"] @@ -95,12 +95,12 @@ all = [ test = ["pytest>=8.0.2", "pytest-cov", "python-dotenv>=1.2.1"] test-all = ["cbfkit[test]", "cbfkit[all]"] quality = [ - "mypy==1.18.2", - "ruff==0.14.6", + "mypy==2.3.1", + "ruff==0.16.8", "black==25.11.0", "isort==7.0.0", "pre-commit==4.3.0", - "types-PyYAML==6.0.12.20250915", + "types-PyYAML==6.0.12.20260906", ] build = ["build>=1.0", "twine>=5.0"] dev = [ diff --git a/src/cbfkit/optimization/quadratic_program/qp_solver_cvxopt.py b/src/cbfkit/optimization/quadratic_program/qp_solver_cvxopt.py index 787366b..ed761be 100644 --- a/src/cbfkit/optimization/quadratic_program/qp_solver_cvxopt.py +++ b/src/cbfkit/optimization/quadratic_program/qp_solver_cvxopt.py @@ -1,6 +1,8 @@ """Quadratic program solver using the CVXOPT library.""" import platform +from importlib import import_module +from types import ModuleType from typing import Any, Dict, Tuple, Union import jax.numpy as jnp @@ -9,30 +11,25 @@ from cbfkit.utils.user_types.solvers import QpSolution -# Resolve cvxopt vs kvxopt once at import time (ARM vs x86) -_cvxopt_available = True -_cvxopt_error = None +# Resolve the optional, platform-specific backend once at import time. Keep its +# native matrix types behind the module boundary: cvxopt and kvxopt ship +# different stubs even though both accept NumPy arrays at runtime. +_cvxopt_backend: ModuleType | None = None +_cvxopt_error: ImportError | None = None try: _mach = platform.machine().lower() - if "arm" in _mach or "aarch" in _mach: - from kvxopt import matrix as _matrix # type: ignore[reportMissingImports] - from kvxopt import solvers as _solvers - else: - from cvxopt import matrix as _matrix - from cvxopt import solvers as _solvers + _cvxopt_backend = import_module("kvxopt" if "arm" in _mach or "aarch" in _mach else "cvxopt") except ImportError as _e: - _cvxopt_available = False _cvxopt_error = _e - _matrix = None # type: ignore[assignment] - _solvers = None # type: ignore[assignment] -def _ensure_cvxopt(): - if not _cvxopt_available: +def _ensure_cvxopt() -> ModuleType: + if _cvxopt_backend is None: raise ImportError( "To use the cvxopt solver, please install the 'cvxopt' extra: " "pip install 'cbfkit[cvxopt]'" ) from _cvxopt_error + return _cvxopt_backend def solve( @@ -57,8 +54,8 @@ def solve( ------- (sol, success): Solution array and boolean success flag. """ - _ensure_cvxopt() - matrix, solvers = _matrix, _solvers + backend = _ensure_cvxopt() + matrix, solvers = backend.matrix, backend.solvers # Use the cvxopt library to solve the quadratic program p_mat = matrix(np.array(p_mat, dtype=float)) diff --git a/tests/test_optimization/test_qp_solver_cvxopt_optional.py b/tests/test_optimization/test_qp_solver_cvxopt_optional.py new file mode 100644 index 0000000..4e579b6 --- /dev/null +++ b/tests/test_optimization/test_qp_solver_cvxopt_optional.py @@ -0,0 +1,31 @@ +"""Missing platform-specific solvers should fail on use, not module import.""" + +import importlib +import platform +import runpy +from pathlib import Path + +import jax.numpy as jnp +import pytest + +from cbfkit.optimization.quadratic_program import qp_solver_cvxopt + + +@pytest.mark.parametrize( + "machine,package", [("arm64", "kvxopt"), ("aarch64", "kvxopt"), ("x86_64", "cvxopt")] +) +def test_missing_backend_reports_install_extra(monkeypatch, machine, package): + missing = 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