openscvx 0.3.1.dev60__tar.gz → 0.3.2.dev127__tar.gz

openscvx-0.3.2.dev127/CONTRIBUTING.md

@@ -0,0 +1,180 @@
+## Contributing to OpenSCvx
+
+### Local Installation
+
+To set up OpenSCvx for local development, first clone the repository and create a virtual environment:
+
+> **Note:** These instructions use SSH URLs. If you haven't set up SSH keys with GitHub, see [Connecting to GitHub with SSH](https://docs.github.com/en/authentication/connecting-to-github-with-ssh).
+
+```bash
+git clone git@github.com:haynec/OpenSCvx.git
+cd OpenSCvx
+python -m venv venv
+source venv/bin/activate  # On Windows: venv\Scripts\activate
+```
+
+Then install the package in editable mode with development dependencies:
+
+```bash
+pip install -e ".[test]"
+```
+
+For additional features, you can install optional dependencies:
+- `pip install -e ".[gui]"` - GUI visualization tools
+- `pip install -e ".[cvxpygen]"` - Code generation support
+- `pip install -e ".[stl]"` - STL (Signal Temporal Logic) constraints
+
+#### Using uv (Alternative)
+
+If you prefer using [uv](https://github.com/astral-sh/uv) for faster dependency resolution:
+
+```bash
+git clone git@github.com:haynec/OpenSCvx.git
+cd OpenSCvx
+uv venv
+source .venv/bin/activate  # On Windows: .venv\Scripts\activate
+uv pip install -e ".[test]"
+```
+
+To contribute changes, you'll need to create a branch or fork. See [Forking and Merging](#forking-and-merging) below for details on our workflow and [Branch Naming Conventions](#branch-naming-conventions) for required naming patterns.
+
+### Forking and Merging
+
+All contributions must be submitted via pull request and approved by a maintainer before merging. This ensures code quality, maintains consistency across the codebase, and gives contributors feedback on their changes.
+
+We currently use standard merge commits for pull requests. We may transition to squash merges in the future to maintain a cleaner commit history on `main`.
+
+Contributors can either:
+1. **Create a branch directly** on the OpenSCvx repository (for those with write access)
+2. **Fork the repository** to their own GitHub account and submit pull requests from there (recommended for external contributors)
+
+#### Fork Setup
+
+To set up a fork for development:
+
+1. Fork the repository on GitHub by clicking the "Fork" button on the [OpenSCvx repository page](https://github.com/haynec/OpenSCvx)
+
+2. Clone your fork locally:
+   ```bash
+   git clone git@github.com:YOUR_USERNAME/OpenSCvx.git
+   cd OpenSCvx
+   ```
+
+3. Add the upstream repository as a remote:
+   ```bash
+   git remote add upstream git@github.com:haynec/OpenSCvx.git
+   ```
+
+4. Verify your remotes:
+   ```bash
+   git remote -v
+   # origin    git@github.com:YOUR_USERNAME/OpenSCvx.git (fetch)
+   # origin    git@github.com:YOUR_USERNAME/OpenSCvx.git (push)
+   # upstream  git@github.com:haynec/OpenSCvx.git (fetch)
+   # upstream  git@github.com:haynec/OpenSCvx.git (push)
+   ```
+
+5. Keep your fork up to date by periodically pulling from upstream:
+   ```bash
+   git fetch upstream
+   git checkout main
+   git merge upstream/main
+   ```
+
+#### Branch Naming Conventions
+
+We use [release-drafter](https://github.com/release-drafter/release-drafter) to automatically generate release notes based on pull request labels. These labels are auto-assigned based on your branch name prefix.
+
+**Required branch prefixes:**
+
+| Prefix | Label Applied | Release Category |
+|--------|---------------|------------------|
+| `feature/` | enhancement | Features |
+| `fix/` | bug | Bug Fixes |
+| `refactor/` | refactor | Maintenance |
+| `chore/` | chore | Maintenance |
+| `docs/` or `doc/` | documentation | Maintenance |
+
+**Examples:**
+- `feature/add-new-solver` - Adding a new solver option
+- `fix/convergence-issue` - Fixing a bug
+- `refactor/simplify-dynamics` - Code refactoring
+- `chore/update-dependencies` - Maintenance tasks
+- `docs/api-examples` - Documentation updates
+
+See the [workflow](.github/workflows/release-drafter.yml) and [configuration](.github/release-drafter.yml) for details.
+
+### Development Guidelines
+
+#### Use of LLM-Based Tools
+
+While the development of OpenSCvx has been greatly assisted by LLM-based tools for coding tasks, it is up to the contributor to use them in a responsible manner. We welcome their use, _but with great power comes great responsibility_.
+
+Our goal is to produce a high-quality codebase that is well organized, easy to modify, easy to understand, and, most importantly, easy to maintain. We will not accept so-called _AI-slop_. Contributors are expected to:
+
+1. **Understand every line** of code they submit. You are responsible for it, not the LLM
+2. **Review and refactor** generated code to match the project's style and patterns
+3. **Write meaningful commit messages and keep commits small-ish** to break the changes into bite-sized chunks that can be understood based on the commit message.
+4. **Test thoroughly** - LLMs can generate plausible-looking but subtly incorrect code. See point 1.
+
+#### Keep It Simple
+
+We value simplicity over cleverness. Before adding code, ask yourself:
+
+- **[YAGNI](https://en.wikipedia.org/wiki/You_aren%27t_gonna_need_it)**: "You Aren't Gonna Need It" - don't add functionality until it's actually needed
+- **[KISS](https://en.wikipedia.org/wiki/KISS_principle)**: "Keep It Simple, Stupid" - the simplest solution is usually the best one
+- **[Feature creep](https://en.wikipedia.org/wiki/Feature_creep)**: the enemy of maintainable software. A 10-line function that's easy to understand beats a 50-line "flexible" abstraction that handles hypothetical future requirements. When in doubt, leave it out.
+
+While we don't always follow these rules, we try.
+
+#### Code Style
+
+We use [Ruff](https://github.com/astral-sh/ruff) for linting and formatting. Before submitting a PR, ensure your code passes:
+
+```bash
+ruff check .
+ruff format --check .
+```
+
+To auto-fix issues:
+
+```bash
+ruff check --fix .
+ruff format .
+```
+
+See the `[tool.ruff]` section in `pyproject.toml` for our configuration.
+
+#### Testing
+
+OpenSCvx uses `pytest` for automated testing. Tests run automatically via GitHub Actions:
+
+- **[tests-unit.yml](.github/workflows/tests-unit.yml)**: Runs on every PR - fast unit tests including the brachistochrone benchmark
+- **[tests-integration.yml](.github/workflows/tests-integration.yml)**: Runs weekly - full example problems as a smoke test
+
+##### Running Tests Locally
+
+For faster feedback during development, run tests locally:
+
+```bash
+pytest tests/                              # All unit tests
+pytest tests/test_brachistochrone.py -v    # Just the brachistochrone benchmark
+pytest -v -m "not integration"             # Skip expensive integration tests
+pytest -v -m integration                   # Only integration tests (runs test_examples.py)
+```
+
+##### Brachistochrone Problem
+
+The [brachistochrone problem](https://en.wikipedia.org/wiki/Brachistochrone_curve) serves as our primary validation benchmark. This classic problem asks for the curve of fastest descent under gravity between two points, and has a known analytical solution: the cycloid. We use it as part of the unit-test suite because:
+
+- **Analytical solution exists**: We can validate numerical results against the exact cycloid curve
+- **Small and fast**: The problem converges quickly, making it ideal for CI/CD pipelines
+- **Representative**: It exercises core features like free final time optimization and nonlinear dynamics
+
+##### Test-Driven Development
+
+While we do not strictly follow [test driven development (TDD)](https://en.wikipedia.org/wiki/Test-driven_development), we aim to keep a representative test-suite where it makes sense to do so and leverage TDD when possible.
+
+For example, the [symbolic-expression layer](openscvx/symbolic/__init__.py) is well covered by [tests](tests/symbolic/) which were written simultaneously with the symbolic layer.
+
+The extensive test suite helps ensure that new features and refactors don't break existing functionality.

{openscvx-0.3.1.dev60/openscvx.egg-info → openscvx-0.3.2.dev127}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.3.1.dev60
+Version: 0.3.2.dev127
 Summary: A general Python-based successive convexification implementation which uses a JAX backend.
 Author-email: Chris Hayner and Griffin Norris <haynec@uw.edu>
 License: Apache Software License
@@ -19,6 +19,8 @@ Requires-Dist: termcolor
 Requires-Dist: diffrax
 Requires-Dist: absl-py
 Requires-Dist: flatbuffers
+Requires-Dist: viser
+Requires-Dist: matplotlib
 Provides-Extra: gui
 Requires-Dist: pyqtgraph; extra == "gui"
 Requires-Dist: PyQt5; extra == "gui"
@@ -154,12 +156,6 @@ For local development:
 pip install -e ".[gui]"
 ```
 
-The GUI features include:
-- Interactive 3D trajectory visualization with `plot_animation_pyqtgraph()`
-- SCP iteration animation with `plot_scp_animation_pyqtgraph()`
-- Camera view animation with `plot_camera_animation_pyqtgraph()`
-- Real-time optimization visualization in examples like `drone_racing_realtime.py`
-
 #### CVXPYGen Dependencies (Optional)
 
 For code generation and faster solver performance, CVXPYGen can be installed:

{openscvx-0.3.1.dev60 → openscvx-0.3.2.dev127}/README.md

@@ -117,12 +117,6 @@ For local development:
 pip install -e ".[gui]"
 ```
 
-The GUI features include:
-- Interactive 3D trajectory visualization with `plot_animation_pyqtgraph()`
-- SCP iteration animation with `plot_scp_animation_pyqtgraph()`
-- Camera view animation with `plot_camera_animation_pyqtgraph()`
-- Real-time optimization visualization in examples like `drone_racing_realtime.py`
-
 #### CVXPYGen Dependencies (Optional)
 
 For code generation and faster solver performance, CVXPYGen can be installed:

{openscvx-0.3.1.dev60 → openscvx-0.3.2.dev127}/docs/examples.md

@@ -55,17 +55,6 @@ Most examples follow this structure:
 6. **Solving**: Run the optimization
 7. **Visualization**: Plot and analyze results
 
-## Interactive Examples
-
-For interactive 3D visualization, many examples include GUI plotting functions:
-
-```python
-from examples.plotting import plot_animation_pyqtgraph
-
-# After solving the problem
-plot_animation_pyqtgraph(results).show()
-```
-
 ## Performance Tips
 
 - Start with simpler examples to understand the workflow

{openscvx-0.3.1.dev60 → openscvx-0.3.2.dev127}/examples/abstract/3DoF_pdg.py

@@ -21,8 +21,12 @@ grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
 sys.path.append(grandparent_dir)
 
 import openscvx as ox
-from examples.plotting import plot_control_norm, plot_xy_xz_yz
+from examples.plotting_viser import (
+    create_pdg_animated_plotting_server,
+    create_scp_animated_plotting_server,
+)
 from openscvx import Problem
+from openscvx.plotting import plot_controls, plot_projections_2d, plot_states, plot_vector_norm
 
 n = 10
 total_time = 95.0  # Total simulation time
@@ -159,6 +163,7 @@ problem.settings.cvx.solver_args = {"enforce_dpp": True}
 plotting_dict = {
     "rho_min": rho_min,
     "rho_max": rho_max,
+    "glideslope_angle_deg": 86.0,
 }
 
 if __name__ == "__main__":
@@ -167,12 +172,26 @@ if __name__ == "__main__":
     results = problem.post_process()
     results.update(plotting_dict)
 
-    # plot_animation_3DoF_rocket(results, problem.settings).show()
-    # plot_scp_animation(results, problem.settings).show()
-    # plot_state(results, problem.settings).show()
-    # plot_control(results, problem.settings).show()
-    plot_control_norm(results, problem.settings).show()
-    plot_xy_xz_yz(results, problem.settings).show()
+    plot_states(results, ["position", "velocity"]).show()
+    plot_controls(results, ["thrust"]).show()
+    plot_vector_norm(results, "thrust", bounds=(rho_min, rho_max)).show()
+    plot_projections_2d(results, velocity_var_name="velocity").show()
+
+    # Create PDG trajectory visualization
+    # scene_scale=100 brings 2000m scale down to ~20m for viser
+    traj_server = create_pdg_animated_plotting_server(
+        results,
+        thrust_key="thrust",
+        glideslope_angle_deg=86.0,
+        scene_scale=100.0,
+    )
+
+    # Create SCP iteration visualization
+    scp_server = create_scp_animated_plotting_server(
+        results,
+        frame_duration_ms=200,
+        scene_scale=100.0,
+    )
 
-    # If installed with extras, you can use the following to plot with pyqtgraph
-    # plot_animation_pyqtgraph(results, problem.settings)
+    # Keep servers running
+    traj_server.sleep_forever()

{openscvx-0.3.1.dev60 → openscvx-0.3.2.dev127}/examples/drone/cinema_vp.py

@@ -23,7 +23,10 @@ grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
 sys.path.append(grandparent_dir)
 
 import openscvx as ox
-from examples.plotting import plot_animation
+from examples.plotting_viser import (
+    create_animated_plotting_server,
+    create_scp_animated_plotting_server,
+)
 from openscvx import Problem
 from openscvx.utils import get_kp_pose
 
@@ -261,11 +264,9 @@ plotting_dict = {
     "alpha_x": alpha_x,
     "alpha_y": alpha_y,
     "R_sb": R_sb,
-    "init_poses": init_pose,
     "norm_type": norm_type,
     "min_range": min_range,
     "max_range": max_range,
-    "moving_subject": True,
 }
 
 if __name__ == "__main__":
@@ -273,6 +274,24 @@ if __name__ == "__main__":
     results = problem.solve()
     results = problem.post_process()
 
+    # Compute moving target trajectory using the post-processed time array
+    traj_time = results.trajectory["time"].flatten()
+    target_trajectory = np.asarray(get_kp_pose(traj_time, init_pose))
+    plotting_dict["init_poses"] = [target_trajectory]  # List of target trajectories
+
     results.update(plotting_dict)
 
-    plot_animation(results, problem.settings).show()
+    # Create both visualization servers (viser auto-assigns ports)
+    traj_server = create_animated_plotting_server(
+        results,
+        thrust_key="thrust_force",
+        viewcone_scale=10.0,
+    )
+    scp_server = create_scp_animated_plotting_server(
+        results,
+        attitude_stride=3,
+        frame_duration_ms=200,
+    )
+
+    # Keep both servers running
+    traj_server.sleep_forever()

{openscvx-0.3.1.dev60 → openscvx-0.3.2.dev127}/examples/drone/cinema_vp_realtime_base.py

@@ -23,7 +23,6 @@ grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
 sys.path.append(grandparent_dir)
 
 import openscvx as ox
-from examples.plotting import plot_animation
 from openscvx import Problem
 
 n = 12  # Number of Nodes
@@ -229,5 +228,3 @@ if __name__ == "__main__":
     results = problem.post_process()
 
     results.update(plotting_dict)
-
-    plot_animation(results, problem.settings).show()

{openscvx-0.3.1.dev60 → openscvx-0.3.2.dev127}/examples/drone/dr_double_integrator.py

@@ -22,7 +22,10 @@ grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
 sys.path.append(grandparent_dir)
 
 import openscvx as ox
-from examples.plotting import plot_animation_double_integrator
+from examples.plotting_viser import (
+    create_animated_plotting_server,
+    create_scp_animated_plotting_server,
+)
 from openscvx import Problem
 from openscvx.utils import gen_vertices, rot
 
@@ -134,7 +137,7 @@ for _ in range(n_gates + 1):
 
 position.guess = position_bar
 
-time = ox.Time(
+t = ox.Time(
     initial=0.0,
     final=("minimize", total_time),
     min=0.0,
@@ -145,7 +148,7 @@ problem = Problem(
     dynamics=dynamics,
     states=states,
     controls=controls,
-    time=time,
+    time=t,
     constraints=constraint_exprs,
     N=n,
 )
@@ -175,4 +178,17 @@ if __name__ == "__main__":
 
     results.update(plotting_dict)
 
-    plot_animation_double_integrator(results, problem.settings).show()
+    # Create both visualization servers (viser auto-assigns ports)
+    traj_server = create_animated_plotting_server(
+        results,
+        thrust_key="force",
+        viewcone_scale=10.0,
+    )
+    scp_server = create_scp_animated_plotting_server(
+        results,
+        attitude_stride=3,
+        frame_duration_ms=200,
+    )
+
+    # Keep both servers running
+    traj_server.sleep_forever()

{openscvx-0.3.1.dev60 → openscvx-0.3.2.dev127}/examples/drone/dr_vp.py

@@ -23,7 +23,10 @@ grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
 sys.path.append(grandparent_dir)
 
 import openscvx as ox
-from examples.plotting import plot_animation
+from examples.plotting_viser import (
+    create_animated_plotting_server,
+    create_scp_animated_plotting_server,
+)
 from openscvx import Problem
 from openscvx.utils import gen_vertices, rot
 
@@ -240,7 +243,7 @@ problem = Problem(
     N=n,
 )
 
-problem.settings.prp.dt = 0.1
+problem.settings.prp.dt = 0.01
 
 
 problem.settings.scp.w_tr = 2e0  # Weight on the Trust Reigon
@@ -273,5 +276,19 @@ if __name__ == "__main__":
 
     results.update(plotting_dict)
 
-    plot_animation(results, problem.settings).show()
-    # plot_animation_pyqtgraph(results, problem.settings)
+    # Create both visualization servers (viser auto-assigns ports)
+    traj_server = create_animated_plotting_server(
+        results,
+        thrust_key="thrust_force",
+        viewcone_scale=10.0,
+        show_control_plot="thrust_force",
+        show_control_norm_plot="thrust_force",
+    )
+    scp_server = create_scp_animated_plotting_server(
+        results,
+        attitude_stride=3,
+        frame_duration_ms=200,
+    )
+
+    # Keep both servers running
+    traj_server.sleep_forever()

{openscvx-0.3.1.dev60 → openscvx-0.3.2.dev127}/examples/drone/dr_vp_nodal.py

@@ -23,7 +23,10 @@ grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
 sys.path.append(grandparent_dir)
 
 import openscvx as ox
-from examples.plotting import plot_animation
+from examples.plotting_viser import (
+    create_animated_plotting_server,
+    create_scp_animated_plotting_server,
+)
 from openscvx import Problem
 from openscvx.utils import gen_vertices, rot
 
@@ -275,4 +278,19 @@ if __name__ == "__main__":
 
     results.update_plotting_data(**plotting_dict)
 
-    plot_animation(results, problem.settings).show()
+    # Create both visualization servers (viser auto-assigns ports)
+    traj_server = create_animated_plotting_server(
+        results,
+        thrust_key="thrust_force",
+        show_control_plot="thrust_force",
+        show_control_norm_plot="thrust_force",
+        viewcone_scale=10.0,
+    )
+    scp_server = create_scp_animated_plotting_server(
+        results,
+        attitude_stride=3,
+        frame_duration_ms=200,
+    )
+
+    # Keep both servers running
+    traj_server.sleep_forever()

{openscvx-0.3.1.dev60 → openscvx-0.3.2.dev127}/examples/drone/dr_vp_polytope.py

@@ -24,7 +24,10 @@ grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
 sys.path.append(grandparent_dir)
 
 import openscvx as ox
-from examples.plotting import plot_animation
+from examples.plotting_viser import (
+    create_animated_plotting_server,
+    create_scp_animated_plotting_server,
+)
 from openscvx import Problem
 from openscvx.utils import gen_vertices, rot
 
@@ -288,4 +291,20 @@ if __name__ == "__main__":
     results = problem.solve()
     results = problem.post_process()
     results.update(plotting_dict)
-    plot_animation(results, problem.settings).show()
+
+    # Create both visualization servers (viser auto-assigns ports)
+    traj_server = create_animated_plotting_server(
+        results,
+        thrust_key="thrust_force",
+        viewcone_scale=10.0,
+        show_control_plot="thrust_force",
+        show_control_norm_plot="thrust_force",
+    )
+    scp_server = create_scp_animated_plotting_server(
+        results,
+        attitude_stride=3,
+        frame_duration_ms=200,
+    )
+
+    # Keep both servers running
+    traj_server.sleep_forever()

{openscvx-0.3.1.dev60 → openscvx-0.3.2.dev127}/examples/drone/drone_racing.py

@@ -21,7 +21,10 @@ grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
 sys.path.append(grandparent_dir)
 
 import openscvx as ox
-from examples.plotting import plot_animation
+from examples.plotting_viser import (
+    create_animated_plotting_server,
+    create_scp_animated_plotting_server,
+)
 from openscvx import Problem
 from openscvx.utils import gen_vertices, rot
 
@@ -309,4 +312,19 @@ if __name__ == "__main__":
 
     results.update(plotting_dict)
 
-    plot_animation(results, problem.settings).show()
+    # Create both visualization servers (viser auto-assigns ports)
+    traj_server = create_animated_plotting_server(
+        results,
+        thrust_key="thrust_force",
+        viewcone_scale=10.0,
+        show_control_plot="thrust_force",
+        show_control_norm_plot="thrust_force",
+    )
+    scp_server = create_scp_animated_plotting_server(
+        results,
+        attitude_stride=3,
+        frame_duration_ms=200,
+    )
+
+    # Keep both servers running
+    traj_server.sleep_forever()

{openscvx-0.3.1.dev60 → openscvx-0.3.2.dev127}/examples/drone/obstacle_avoidance.py

@@ -22,7 +22,10 @@ grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
 sys.path.append(grandparent_dir)
 
 import openscvx as ox
-from examples.plotting import plot_animation
+from examples.plotting_viser import (
+    create_animated_plotting_server,
+    create_scp_animated_plotting_server,
+)
 from openscvx import Problem
 from openscvx.utils import generate_orthogonal_unit_vectors
 
@@ -157,7 +160,7 @@ problem = Problem(
     N=n,
 )
 
-problem.settings.prp.dt = 0.01
+problem.settings.prp.dt = 0.001
 problem.settings.scp.lam_vb = 1e0
 problem.settings.scp.w_tr_adapt = 1.8
 problem.settings.scp.w_tr = 1e1
@@ -179,4 +182,17 @@ if __name__ == "__main__":
 
     results.update(plotting_dict)
 
-    plot_animation(results, problem.settings).show()
+    # Create both visualization servers (viser auto-assigns ports)
+    traj_server = create_animated_plotting_server(
+        results,
+        thrust_key="thrust_force",
+        viewcone_scale=10.0,
+    )
+    scp_server = create_scp_animated_plotting_server(
+        results,
+        attitude_stride=3,
+        frame_duration_ms=200,
+    )
+
+    # Keep both servers running
+    traj_server.sleep_forever()

{openscvx-0.3.1.dev60 → openscvx-0.3.2.dev127}/examples/drone/obstacle_avoidance_nodal.py

@@ -21,7 +21,10 @@ grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
 sys.path.append(grandparent_dir)
 
 import openscvx as ox
-from examples.plotting import plot_animation
+from examples.plotting_viser import (
+    create_animated_plotting_server,
+    create_scp_animated_plotting_server,
+)
 from openscvx import Problem
 from openscvx.utils import generate_orthogonal_unit_vectors
 
@@ -173,4 +176,17 @@ if __name__ == "__main__":
 
     results.update(plotting_dict)
 
-    plot_animation(results, problem.settings).show()
+    # Create both visualization servers (viser auto-assigns ports)
+    traj_server = create_animated_plotting_server(
+        results,
+        thrust_key="thrust_force",
+        viewcone_scale=10.0,
+    )
+    scp_server = create_scp_animated_plotting_server(
+        results,
+        attitude_stride=3,
+        frame_duration_ms=200,
+    )
+
+    # Keep both servers running
+    traj_server.sleep_forever()

{openscvx-0.3.1.dev60 → openscvx-0.3.2.dev127}/examples/drone/obstacle_avoidance_realtime_base.py

@@ -22,7 +22,10 @@ grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
 sys.path.append(grandparent_dir)
 
 import openscvx as ox
-from examples.plotting import plot_animation
+from examples.plotting_viser import (
+    create_animated_plotting_server,
+    create_scp_animated_plotting_server,
+)
 from openscvx import Problem
 from openscvx.utils import generate_orthogonal_unit_vectors
 
@@ -177,4 +180,17 @@ if __name__ == "__main__":
 
     results.update(plotting_dict)
 
-    plot_animation(results, problem.settings).show()
+    # Create both visualization servers (viser auto-assigns ports)
+    traj_server = create_animated_plotting_server(
+        results,
+        thrust_key="thrust_force",
+        viewcone_scale=10.0,
+    )
+    scp_server = create_scp_animated_plotting_server(
+        results,
+        attitude_stride=3,
+        frame_duration_ms=200,
+    )
+
+    # Keep both servers running
+    traj_server.sleep_forever()