TrajectoryBundleMethod/.github/workflows/ci.yml at main · RoboticExplorationLab/TrajectoryBundleMethod · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
name: CI

on:
  pull_request:
  push:
    branches:
      - main

jobs:
  lint:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - uses: astral-sh/setup-uv@v6
        with:
          enable-cache: true
      - uses: actions/setup-python@v5
        with:
          python-version: "3.11"
      - run: uv sync --locked
      - run: uv run ruff check tbm tests examples

  test:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - uses: astral-sh/setup-uv@v6
        with:
          enable-cache: true
      - uses: actions/setup-python@v5
        with:
          python-version: "3.11"
      - run: uv sync --locked
      - run: uv run pytest

  package:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - uses: astral-sh/setup-uv@v6
        with:
          enable-cache: true
      - uses: actions/setup-python@v5
        with:
          python-version: "3.11"
      - run: uv build
      - run: python -m venv /tmp/tbm-wheel-test
      - run: /tmp/tbm-wheel-test/bin/python -m pip install --upgrade pip
      - run: /tmp/tbm-wheel-test/bin/python -m pip install dist/*.whl
      - name: Smoke test installed wheel
        working-directory: /tmp
        run: |
          /tmp/tbm-wheel-test/bin/python - <<'PY'
          import numpy as np
          from tbm import InitialGuess, TBMConfig, TBMProblem, solve

          def rollout(initial_states, control_segments):
              states = np.zeros((initial_states.shape[0], control_segments.shape[1] + 1, 1))
              states[:, 0, :] = initial_states
              for step in range(control_segments.shape[1]):
                  states[:, step + 1, 0] = states[:, step, 0] + control_segments[:, step, 0]
              return states

          result = solve(
              TBMProblem(
                  state_dim=1,
                  control_dim=1,
                  horizon=2,
                  initial_state=np.array([0.0]),
                  rollout=rollout,
              ),
              InitialGuess(controls=np.zeros((1, 1))),
              TBMConfig(max_iterations=1),
          )
          assert result.history
          PY