openscvx 0.5.1.dev1__tar.gz → 0.5.1.dev2__tar.gz

{openscvx-0.5.1.dev1/openscvx.egg-info → openscvx-0.5.1.dev2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.5.1.dev1
+Version: 0.5.1.dev2
 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

{openscvx-0.5.1.dev1 → openscvx-0.5.1.dev2}/openscvx/_version.py

@@ -18,7 +18,7 @@ version_tuple: tuple[int | str, ...]
 commit_id: str | None
 __commit_id__: str | None
 
-__version__ = version = '0.5.1.dev1'
-__version_tuple__ = version_tuple = (0, 5, 1, 'dev1')
+__version__ = version = '0.5.1.dev2'
+__version_tuple__ = version_tuple = (0, 5, 1, 'dev2')
 
-__commit_id__ = commit_id = 'g08ad04d9c'
+__commit_id__ = commit_id = 'g610c9b12a'

{openscvx-0.5.1.dev1 → openscvx-0.5.1.dev2}/openscvx/init/inverse_kinematics.py

@@ -22,7 +22,6 @@ from typing import Sequence, Tuple, Union
 
 import jax
 import jax.numpy as jnp
-import jaxlie
 import numpy as np
 
 from openscvx.init.interpolation import linspace, slerp
@@ -71,6 +70,7 @@ def _so3_log(R):
 @jax.jit
 def _poe_fk_pose(screw_axes, T_home, angles):
     """PoE FK returning (4, 4) end-effector transform."""
+    import jaxlie
 
     def step(T, xi_angle):
         xi, angle = xi_angle[:6], xi_angle[6]
@@ -181,6 +181,13 @@ def ik_interpolation(
                 T_home=T_home,
             )
     """
+    try:
+        import jaxlie  # noqa: F401
+    except ImportError as e:
+        raise ImportError(
+            "ik_interpolation requires jaxlie. Install with: pip install openscvx[lie]"
+        ) from e
+
     positions = [np.asarray(kf[0], dtype=np.float64) for kf in keyframes]
     quaternions = [np.asarray(kf[1], dtype=np.float64) for kf in keyframes]
 

{openscvx-0.5.1.dev1 → openscvx-0.5.1.dev2}/openscvx/symbolic/expr/lie/__init__.py

@@ -53,14 +53,16 @@ References:
 # Core operators - no dependencies
 from .adjoint import Adjoint, AdjointDual, SE3Adjoint, SE3AdjointDual
 
-# jaxlie-backed operators - optional dependency
+# jaxlie-backed operators - optional dependency.
+# These AST nodes don't import jaxlie themselves (lowering does), so we probe
+# for jaxlie explicitly to gate construction with a clear install hint instead
+# of letting users build nodes that blow up later inside the lowerer.
 try:
+    import jaxlie  # noqa: F401
+
     from .se3 import SE3Exp, SE3Log
     from .so3 import SO3Exp, SO3Log
-
-    _JAXLIE_AVAILABLE = True
 except ImportError:
-    _JAXLIE_AVAILABLE = False
 
     def _make_stub(name: str):
         """Create a stub class that raises ImportError on instantiation."""

{openscvx-0.5.1.dev1 → openscvx-0.5.1.dev2/openscvx.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.5.1.dev1
+Version: 0.5.1.dev2
 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