openscvx 0.5.3.dev20__tar.gz → 0.5.3.dev22__tar.gz

{openscvx-0.5.3.dev20 → openscvx-0.5.3.dev22}/.github/workflows/tests-unit.yml

@@ -38,7 +38,7 @@ jobs:
 
     - name: Install dependencies
       run: |
-        uv pip install --system -e ".[gui,test]"
+        uv pip install --system -e ".[test]"
 
     - name: Run unit tests
       run: |

{openscvx-0.5.3.dev20/openscvx.egg-info → openscvx-0.5.3.dev22}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.5.3.dev20
+Version: 0.5.3.dev22
 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
@@ -24,7 +24,7 @@ Requires-Dist: matplotlib
 Requires-Dist: pyyaml
 Requires-Dist: pydantic>=2.0
 Provides-Extra: cvxpygen
-Requires-Dist: cvxpygen; extra == "cvxpygen"
+Requires-Dist: cvxpygen>=1.0.0; extra == "cvxpygen"
 Requires-Dist: qocogen; extra == "cvxpygen"
 Provides-Extra: qpax
 Requires-Dist: qpax>=0.1.1; extra == "qpax"

{openscvx-0.5.3.dev20 → openscvx-0.5.3.dev22}/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.dev20'
-__version_tuple__ = version_tuple = (0, 5, 3, 'dev20')
+__version__ = version = '0.5.3.dev22'
+__version_tuple__ = version_tuple = (0, 5, 3, 'dev22')
 
-__commit_id__ = commit_id = 'g6b1cd4074'
+__commit_id__ = commit_id = 'gc17dbce68'

{openscvx-0.5.3.dev20 → openscvx-0.5.3.dev22}/openscvx/propagation/post_processing.py

@@ -81,18 +81,23 @@ def propagate_trajectory_results(
     n_opt_states = x.shape[1]
     n_prop_states = settings.sim.x_prop.initial.shape[0]
 
-    # For a converged solution x[0, :] is the actual IC for every optimisation-state
-    # component regardless of initial_type (Fix / Free / Maximize).  Using the
-    # trajectory value directly avoids a subtle bug where "Fix" components would
-    # be seeded from settings.sim.x_prop.initial — the lowering-time default —
-    # rather than the value enforced by a param-fix pin for this particular solve.
+    # Seed from x[0, :] directly so param-fixed "Fix" components use this solve's
+    # pinned value rather than the lowering-time x_prop.initial default.
+    x0_opt = np.array(x[0, :], dtype=float)
+
+    # Seed from the pre-impulse state to avoid impulse duplication
+    if dynamics_discrete is not None and np.any(settings.sim.u._impulsive_mask()):
+        init_fixed = np.asarray(settings.sim.x.initial_type) == "Fix"
+        x_initial = np.asarray(settings.sim.x.initial, dtype=float)
+        x0_opt = np.where(init_fixed, x_initial, x0_opt)
+
     if n_opt_states == n_prop_states:
-        x_prop_for_propagation.initial = np.array(x[0, :], dtype=float)
+        x_prop_for_propagation.initial = x0_opt
     else:
         # Propagation has extra states appended beyond the optimisation states;
         # copy only the overlapping prefix and leave prop-only states untouched.
         x_prop_initial_updated = np.array(settings.sim.x_prop.initial, dtype=float)
-        x_prop_initial_updated[:n_opt_states] = np.array(x[0, :], dtype=float)
+        x_prop_initial_updated[:n_opt_states] = x0_opt
         x_prop_for_propagation.initial = x_prop_initial_updated
 
     # Temporarily replace x_prop with our modified copy for propagation

{openscvx-0.5.3.dev20 → openscvx-0.5.3.dev22}/openscvx/solvers/cvxpy_ptr_solver.py

@@ -664,21 +664,24 @@ class CVXPyPTRSolver(PTRSolver):
         based on the configuration.
         """
         if self.cvxpygen:
+            cpg_solver_path = os.path.join("solver", "cpg_solver.py")
+            if not os.path.isfile(cpg_solver_path):
+                raise ImportError(
+                    "cvxpygen solver not found. Make sure cvxpygen is installed and code "
+                    "generation has been run. Install with: uv pip install openscvx[cvxpygen]"
+                )
             try:
-                import pickle
-
                 from solver.cpg_solver import cpg_solve
-
-                with open("solver/problem.pickle", "rb") as f:
-                    pickle.load(f)
-                self._problem.register_solve("CPG", cpg_solve)
-                solver_args = self.solver_args
-                self._solve_fn = lambda: self._problem.solve(method="CPG", **solver_args)
-            except ImportError:
+            except ImportError as exc:
                 raise ImportError(
                     "cvxpygen solver not found. Make sure cvxpygen is installed and code "
-                    "generation has been run. Install with: pip install openscvx[cvxpygen]"
-                )
+                    "generation has been run. Install with: uv pip install openscvx[cvxpygen]"
+                ) from exc
+            # cvxpygen v1.0+ registers CPG during generate_code(); re-register here so
+            # reusing an existing solver/ directory (without regenerating) still works.
+            self._problem.register_solve("CPG", cpg_solve)
+            solver_args = self.solver_args
+            self._solve_fn = lambda: self._problem.solve(method="CPG", **solver_args)
         else:
             solver = self.cvx_solver
             solver_args = dict(self.solver_args)
@@ -1200,7 +1203,9 @@ class CVXPyPTRSolver(PTRSolver):
             # status gate would otherwise reject the UNKNOWN it maps to.
             code = (
                 StatusCode.OPTIMAL
-                if result.status == "optimal_inaccurate"
+                if (result.status == "optimal_inaccurate")
+                or (result.status == "solved")
+                or (result.status == "1 (for description visit https://qoco-org.github.io/qoco/)")
                 else status_str_to_code(result.status)
             )
             return SubproblemSolution(

{openscvx-0.5.3.dev20 → openscvx-0.5.3.dev22/openscvx.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.5.3.dev20
+Version: 0.5.3.dev22
 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
@@ -24,7 +24,7 @@ Requires-Dist: matplotlib
 Requires-Dist: pyyaml
 Requires-Dist: pydantic>=2.0
 Provides-Extra: cvxpygen
-Requires-Dist: cvxpygen; extra == "cvxpygen"
+Requires-Dist: cvxpygen>=1.0.0; extra == "cvxpygen"
 Requires-Dist: qocogen; extra == "cvxpygen"
 Provides-Extra: qpax
 Requires-Dist: qpax>=0.1.1; extra == "qpax"

{openscvx-0.5.3.dev20 → openscvx-0.5.3.dev22}/openscvx.egg-info/requires.txt

@@ -13,7 +13,7 @@ pyyaml
 pydantic>=2.0
 
 [cvxpygen]
-cvxpygen
+cvxpygen>=1.0.0
 qocogen
 
 [lie]

{openscvx-0.5.3.dev20 → openscvx-0.5.3.dev22}/pyproject.toml

@@ -40,7 +40,7 @@ Homepage = "https://openscvx.github.io/OpenSCvx/"
 
 [project.optional-dependencies]
 cvxpygen = [
-    "cvxpygen",
+    "cvxpygen>=1.0.0",
     "qocogen",
 ]
 qpax = [