fix: pin HarmoniqsBenchmarks to compat-widened branch, autoformat

- Pin HarmoniqsBenchmarks source to fix/widen-dto-compat branch which
  has DirectTrajOpt compat "0.8, 0.9" (fixes Pkg.instantiate failure)
- Run JuliaFormatter on benchmark files

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

Author: jack-champagne

benchmark/Project.toml

@@ -15,4 +15,5 @@ TestItems = "1c621080-faea-4a02-84b6-bbd5e436b8fe"
 
 [sources]
 DirectTrajOpt = {path = ".."}
-HarmoniqsBenchmarks = {url = "https://github.com/harmoniqs/HarmoniqsBenchmarks.jl"}
+# TODO: remove rev pin once HarmoniqsBenchmarks.jl#2 merges to main
+HarmoniqsBenchmarks = {url = "https://github.com/harmoniqs/HarmoniqsBenchmarks.jl", rev = "fix/widen-dto-compat"}

benchmark/benchmarks.jl

@@ -8,7 +8,7 @@ using TestItems
     include("$(joinpath(@__DIR__, "problem_utils.jl"))")
 
     N = 51
-    prob = make_bilinear_problem(; N=N, seed=42)
+    prob = make_bilinear_problem(; N = N, seed = 42)
 
     evaluator, Z_vec = build_evaluator(prob)
     dims = evaluator_dims(evaluator)
@@ -59,7 +59,8 @@ using TestItems
             try
                 String(strip(read(`git rev-parse --short HEAD`, String)))
             catch
-                ; "unknown"
+                ;
+                "unknown"
             end
         ),
         benchmark_name = "evaluator_micro_bilinear_N51",
@@ -98,15 +99,15 @@ end
 
     runner = get(ENV, "BENCHMARK_RUNNER", "local")
 
-    prob_ipopt = make_bilinear_problem(; N=51, seed=42)
+    prob_ipopt = make_bilinear_problem(; N = 51, seed = 42)
     result_ipopt = benchmark_solve!(
         prob_ipopt,
         IpoptOptions(max_iter = 200, print_level = 0);
         benchmark_name = "bilinear_N51_ipopt",
         runner = runner,
     )
 
-    prob_madnlp = make_bilinear_problem(; N=51, seed=42)
+    prob_madnlp = make_bilinear_problem(; N = 51, seed = 42)
     result_madnlp = benchmark_solve!(
         prob_madnlp,
         MadNLPOptions(max_iter = 200, print_level = 6);

benchmark/problem_utils.jl

@@ -71,8 +71,7 @@ function make_scaled_problem(; N::Int, state_dim::Int, n_controls::Int = 2, seed
         final = (u = zeros(n_controls),),
         goal = (x = x_goal,),
     )
-    integrators =
-        [BilinearIntegrator(G, :x, :u, traj), DerivativeIntegrator(:u, :du, traj)]
+    integrators = [BilinearIntegrator(G, :x, :u, traj), DerivativeIntegrator(:u, :du, traj)]
     J = QuadraticRegularizer(:u, traj, 1.0)
     return DirectTrajOptProblem(traj, J, integrators)
 end