From af0442d358b1deca5710c0c6812424b12b39f7e7 Mon Sep 17 00:00:00 2001 From: Atsushi Sakai Date: Thu, 1 May 2025 13:08:29 +0900 Subject: [PATCH 1/2] build(deps): update cvxpy version from 1.5.3 to 1.6.5 in requirements (#1203) * build(deps): update cvxpy version from 1.5.3 to 1.6.5 in requirements * Add ECOS solver and improve solver handling for stability Added ECOS to requirements and enhanced compatibility with cvxpy solvers by specifying 'order' for matrix reshaping. Updated solver configurations in rocket landing and pendulum control for consistency and reliability. Improved test behavior by enforcing stricter warning handling in pytest. --- .../rocket_powered_landing/rocket_powered_landing.py | 9 +++++---- InvertedPendulum/inverted_pendulum_mpc_control.py | 2 +- requirements/requirements.txt | 3 ++- tests/conftest.py | 2 +- 4 files changed, 9 insertions(+), 7 deletions(-) diff --git a/AerialNavigation/rocket_powered_landing/rocket_powered_landing.py b/AerialNavigation/rocket_powered_landing/rocket_powered_landing.py index 239f3629c1..1918dc1cee 100644 --- a/AerialNavigation/rocket_powered_landing/rocket_powered_landing.py +++ b/AerialNavigation/rocket_powered_landing/rocket_powered_landing.py @@ -31,6 +31,7 @@ W_DELTA_SIGMA = 1e-1 # difference in flight time W_NU = 1e5 # virtual control +print(cvxpy.installed_solvers()) solver = 'ECOS' verbose_solver = False @@ -462,11 +463,11 @@ def __init__(self, m, K): # x_t+1 = A_*x_t+B_*U_t+C_*U_T+1*S_*sigma+zbar+nu constraints += [ self.var['X'][:, k + 1] == - cvxpy.reshape(self.par['A_bar'][:, k], (m.n_x, m.n_x)) @ + cvxpy.reshape(self.par['A_bar'][:, k], (m.n_x, m.n_x), order='F') @ self.var['X'][:, k] + - cvxpy.reshape(self.par['B_bar'][:, k], (m.n_x, m.n_u)) @ + cvxpy.reshape(self.par['B_bar'][:, k], (m.n_x, m.n_u), order='F') @ self.var['U'][:, k] + - cvxpy.reshape(self.par['C_bar'][:, k], (m.n_x, m.n_u)) @ + cvxpy.reshape(self.par['C_bar'][:, k], (m.n_x, m.n_u), order='F') @ self.var['U'][:, k + 1] + self.par['S_bar'][:, k] * self.var['sigma'] + self.par['z_bar'][:, k] + @@ -536,7 +537,7 @@ def solve(self, **kwargs): with warnings.catch_warnings(): # For User warning from solver warnings.simplefilter('ignore') self.prob.solve(verbose=verbose_solver, - solver=solver) + solver=solver) except cvxpy.SolverError: error = True diff --git a/InvertedPendulum/inverted_pendulum_mpc_control.py b/InvertedPendulum/inverted_pendulum_mpc_control.py index 9a5fa2ab41..c45dde8acc 100644 --- a/InvertedPendulum/inverted_pendulum_mpc_control.py +++ b/InvertedPendulum/inverted_pendulum_mpc_control.py @@ -91,7 +91,7 @@ def mpc_control(x0): prob = cvxpy.Problem(cvxpy.Minimize(cost), constr) start = time.time() - prob.solve(verbose=False) + prob.solve(verbose=False, solver=cvxpy.CLARABEL) elapsed_time = time.time() - start print(f"calc time:{elapsed_time:.6f} [sec]") diff --git a/requirements/requirements.txt b/requirements/requirements.txt index f3e6c3dc51..e9c68be7e6 100644 --- a/requirements/requirements.txt +++ b/requirements/requirements.txt @@ -1,7 +1,8 @@ numpy == 2.2.4 scipy == 1.15.2 matplotlib == 3.10.1 -cvxpy == 1.5.3 +cvxpy == 1.6.5 +ecos == 2.0.14 pytest == 8.3.5 # For unit test pytest-xdist == 3.6.1 # For unit test mypy == 1.15.0 # For unit test diff --git a/tests/conftest.py b/tests/conftest.py index 3485fe8150..b707b22d00 100644 --- a/tests/conftest.py +++ b/tests/conftest.py @@ -10,4 +10,4 @@ def run_this_test(file): - pytest.main([os.path.abspath(file)]) + pytest.main(args=["-W", "error", "-Werror", "--pythonwarnings=error", os.path.abspath(file)]) From 1f729cb8cbd5075871bb52c8fb31df2732ad6641 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Thu, 1 May 2025 13:59:15 +0900 Subject: [PATCH 2/2] build(deps): bump ruff from 0.11.6 to 0.11.7 in /requirements (#1205) Bumps [ruff](https://github.com/astral-sh/ruff) from 0.11.6 to 0.11.7. - [Release notes](https://github.com/astral-sh/ruff/releases) - [Changelog](https://github.com/astral-sh/ruff/blob/main/CHANGELOG.md) - [Commits](https://github.com/astral-sh/ruff/compare/0.11.6...0.11.7) --- updated-dependencies: - dependency-name: ruff dependency-version: 0.11.7 dependency-type: direct:production update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- requirements/requirements.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/requirements/requirements.txt b/requirements/requirements.txt index e9c68be7e6..88cbb21f81 100644 --- a/requirements/requirements.txt +++ b/requirements/requirements.txt @@ -6,4 +6,4 @@ ecos == 2.0.14 pytest == 8.3.5 # For unit test pytest-xdist == 3.6.1 # For unit test mypy == 1.15.0 # For unit test -ruff == 0.11.6 # For unit test +ruff == 0.11.7 # For unit test