Fix CI

Author: govindchari

tests/test_lcvx.py

@@ -38,15 +38,15 @@ def test_lcvx():
     )
     B = np.array(
         [
-            [0.5 * dt**2, 0.0, 0.0],
-            [0.0, 0.5 * dt**2, 0.0],
-            [0.0, 0.0, 0.5 * dt**2],
+            [0.5 * dt ** 2, 0.0, 0.0],
+            [0.0, 0.5 * dt ** 2, 0.0],
+            [0.0, 0.0, 0.5 * dt ** 2],
             [dt, 0.0, 0.0],
             [0.0, dt, 0.0],
             [0.0, 0.0, dt],
         ]
     )
-    G = np.array([0.0, 0.0, -0.5 * g * dt**2, 0.0, 0.0, -g * dt])
+    G = np.array([0.0, 0.0, -0.5 * g * dt ** 2, 0.0, 0.0, -g * dt])
     S = np.array([[1.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0, 0.0, 0.0]])
     c = np.array([0.0, 0.0, -np.tan(0.5 * np.pi - gs), 0.0, 0.0, 0.0])
     xT = np.zeros((nx))

tests/test_lcvx_bad_scale.py

@@ -38,15 +38,15 @@ def test_lcvx_bad_scaling():
     )
     B = np.array(
         [
-            [0.5 * dt**2, 0.0, 0.0],
-            [0.0, 0.5 * dt**2, 0.0],
-            [0.0, 0.0, 0.5 * dt**2],
+            [0.5 * dt ** 2, 0.0, 0.0],
+            [0.0, 0.5 * dt ** 2, 0.0],
+            [0.0, 0.0, 0.5 * dt ** 2],
             [dt, 0.0, 0.0],
             [0.0, dt, 0.0],
             [0.0, 0.0, dt],
         ]
     )
-    G = np.array([0.0, 0.0, -0.5 * g * dt**2, 0.0, 0.0, -g * dt])
+    G = np.array([0.0, 0.0, -0.5 * g * dt ** 2, 0.0, 0.0, -g * dt])
     S = np.array([[1.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0, 0.0, 0.0]])
     c = np.array([0.0, 0.0, -np.tan(0.5 * np.pi - gs), 0.0, 0.0, 0.0])
     xT = np.zeros((nx))

tests/test_pdg.py

@@ -44,8 +44,8 @@ def test_pdg():
 
     # Double integrator dynamics.
     Ad = np.block([[np.eye(3), dt * np.eye(3)], [np.zeros((3, 3)), np.eye(3)]])
-    Bd = np.block([[0.5 * dt**2 * np.eye(3)], [dt * np.eye(3)]])
-    g = np.array([-0.5 * g0 * dt**2, 0, 0, -g0 * dt, 0, 0])
+    Bd = np.block([[0.5 * dt ** 2 * np.eye(3)], [dt * np.eye(3)]])
+    g = np.array([-0.5 * g0 * dt ** 2, 0, 0, -g0 * dt, 0, 0])
 
     # Parse dynamics constraint.
     Azdyn = np.block(

tests/test_robust_kalman_filter.py

@@ -23,8 +23,8 @@ def test_robust_kalman_filter():
     A[2, 2] = 1 - gamma * delt
     A[3, 3] = 1 - gamma * delt
 
-    B[0, 0] = delt**2 / 2
-    B[1, 1] = delt**2 / 2
+    B[0, 0] = delt ** 2 / 2
+    B[1, 1] = delt ** 2 / 2
     B[2, 0] = delt
     B[3, 1] = delt
 

tests/utils/cvxpy_to_qoco.py

@@ -1,5 +1,6 @@
 import cvxpy as cp
 from scipy import sparse
+from numpy import int32
 
 
 def convert(prob):
@@ -24,4 +25,14 @@ def convert(prob):
     G = data["A"][p::, :]
     h = data["b"][p::]
 
+    if P is not None:
+        P.indices = P.indices.astype(int32)
+        P.indptr = P.indptr.astype(int32)
+    if A is not None:
+        A.indices = A.indices.astype(int32)
+        A.indptr = A.indptr.astype(int32)
+    if G is not None:
+        G.indices = G.indices.astype(int32)
+        G.indptr = G.indptr.astype(int32)
+
     return n, m, p, P, c, A, b, G, h, l, nsoc, q