openscvx 0.5.3.dev17__tar.gz → 0.5.3.dev18__tar.gz

{openscvx-0.5.3.dev17/openscvx.egg-info → openscvx-0.5.3.dev18}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.5.3.dev17
+Version: 0.5.3.dev18
 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-0.5.3.dev17 → openscvx-0.5.3.dev18}/examples/arm/7_dof_arm.py

@@ -48,7 +48,7 @@ a4 = 0.150  # Wrist to end-effector
 inertia = np.array([0.08, 0.06, 0.05, 0.04, 0.02, 0.01, 0.005])
 
 # Number of discretization nodes (parameterized by segments between waypoints)
-nodes_per_segment = 2
+nodes_per_segment = 1
 total_time = 4.0
 
 # =============================================================================

{openscvx-0.5.3.dev17 → openscvx-0.5.3.dev18}/examples/rocket/3DoF_pdg.py

@@ -59,17 +59,26 @@ mass.guess = np.linspace(mass.initial, 1690, n).reshape(-1, 1)
 # Define control — thrust force vector [Tx, Ty, Tz]
 thrust = ox.Control("thrust", shape=(3,), parameterization="ZOH")
 
-T_bar = 3.1 * 1e3
+T_bar = 3.1 * 1e3  # N, per-engine maximum thrust
 T1 = 0.3 * T_bar
 T2 = 0.8 * T_bar
 n_eng = 6
+T_max = n_eng * T_bar  # N, total cluster maximum thrust
+theta_val = 27 * np.pi / 180
 
-# Set bounds on control
-thrust.min = n_eng * np.array([-T_bar, -T_bar, -T_bar])
-thrust.max = n_eng * np.array([T_bar, T_bar, T_bar])
+# Thrust magnitude envelope (used for CTCS and normalized box/scaling bounds)
+rho_min = n_eng * T1 * np.cos(theta_val)
+rho_max = n_eng * T2 * np.cos(theta_val)
+
+# Box bounds on thrust components (physical authority)
+thrust.min = -T_max * np.ones(3)
+thrust.max = T_max * np.ones(3)
+# Tighter scaling bounds for SCP conditioning (active thrust envelope)
+thrust.scaling_min = -rho_max * np.ones(3)
+thrust.scaling_max = rho_max * np.ones(3)
 
 # Set initial control guess
-thrust.guess = np.repeat(np.expand_dims(np.array([0, 0, n_eng * (T2) / 2]), axis=0), n, axis=0)
+thrust.guess = np.repeat(np.expand_dims(np.array([0, 0, rho_max / 2]), axis=0), n, axis=0)
 
 # Define list of all states and controls
 states = [position, velocity, mass]
@@ -82,11 +91,7 @@ g_e = 9.807  # Gravitational acceleration on Earth in m/s^2
 # Create parameters for the problem
 I_sp = ox.Parameter("I_sp", value=225.0)
 g = ox.Parameter("g", value=3.7114)
-theta = ox.Parameter("theta", value=27 * np.pi / 180)
-
-# These will be computed symbolically in constraints
-rho_min = n_eng * T1 * np.cos(theta.value)  # Minimum thrust-to-weight ratio
-rho_max = n_eng * T2 * np.cos(theta.value)  # Maximum thrust-to-weight ratio
+theta = ox.Parameter("theta", value=theta_val)
 
 # Generate box constraints for all states
 constraints = []
@@ -101,8 +106,8 @@ for state in states:
 # Thrust magnitude constraints
 constraints.extend(
     [
-        ox.ctcs(rho_min <= ox.linalg.Norm(thrust), idx=1),
-        ox.ctcs(ox.linalg.Norm(thrust) <= rho_max, idx=1),
+        ox.ctcs(rho_min <= ox.linalg.Norm(thrust), idx=1, penalty="huber"),
+        ox.ctcs(ox.linalg.Norm(thrust) <= rho_max, idx=1, penalty="huber"),
     ]
 )
 

{openscvx-0.5.3.dev17 → openscvx-0.5.3.dev18}/examples/spacecraft/let_transfer.py

@@ -857,12 +857,11 @@ def _build_let_problem_bundle(float_dtype: str = LET_FLOAT_DTYPE) -> dict:
         "diffrax_kwargs": {"atol": integration_tol, "rtol": integration_tol},
     }
     algorithm = {
-        "k_max": 150,
         "lam_prox": 5e-2,
         "lam_vc": 3e1,
         "lam_vb": 2e-1,
         "lam_cost": 0.5,
-        "ep_tr": 1e-9,
+        "ep_tr": 1e-8,
         "ep_vc": 1e-6,
         "autotuner": ox.AugmentedLagrangian(),
     }

{openscvx-0.5.3.dev17 → openscvx-0.5.3.dev18}/openscvx/_version.py

@@ -18,7 +18,7 @@ version_tuple: tuple[int | str, ...]
 commit_id: str | None
 __commit_id__: str | None
 
-__version__ = version = '0.5.3.dev17'
-__version_tuple__ = version_tuple = (0, 5, 3, 'dev17')
+__version__ = version = '0.5.3.dev18'
+__version_tuple__ = version_tuple = (0, 5, 3, 'dev18')
 
-__commit_id__ = commit_id = 'gb2143958f'
+__commit_id__ = commit_id = 'gae09f2b29'

{openscvx-0.5.3.dev17 → openscvx-0.5.3.dev18/openscvx.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.5.3.dev17
+Version: 0.5.3.dev18
 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