openscvx 0.5.3.dev34__py3-none-any.whl → 0.5.3.dev36__py3-none-any.whl

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.dev34'
-__version_tuple__ = version_tuple = (0, 5, 3, 'dev34')
+__version__ = version = '0.5.3.dev36'
+__version_tuple__ = version_tuple = (0, 5, 3, 'dev36')
 
-__commit_id__ = commit_id = 'g264808b5c'
+__commit_id__ = commit_id = 'g1eddc1a14'

openscvx/problem.py

@@ -63,7 +63,11 @@ from openscvx.lowered.jax_constraints import (
     LoweredJaxConstraints,
     LoweredNodalConstraint,
 )
-from openscvx.propagation import get_propagation_solver, propagate_trajectory_results
+from openscvx.propagation import (
+    get_propagation_solver,
+    propagate_trajectory_results,
+    s_to_t,
+)
 from openscvx.solvers import ConvexSolver, resolve_solver_config
 from openscvx.symbolic.builder import preprocess_symbolic_problem
 from openscvx.symbolic.expr import CTCS, Constraint
@@ -2074,7 +2078,12 @@ class Problem:
                 ``ceil(T_max / settings.prp.dt) + 1`` where ``T_max`` is the
                 longest terminal time across the batch.  All ``B`` elements are
                 interpolated to the **same** ``n_times`` so the output arrays
-                have uniform shape.
+                have uniform shape.  The requested (or default) value is capped
+                so no single segment of any element receives more dense samples
+                than the propagation solver's compiled per-segment capacity
+                (``settings.prp.max_tau_len``); the cap binds on the largest
+                segment-duration fraction across the batch, so trajectories with
+                near-uniform segments are left untouched.
 
         Returns:
             The same ``results`` object with ``t_full``, ``x_full``, ``u_full``,
@@ -2095,10 +2104,24 @@ class Problem:
             n_times = max(int(np.ceil(T_max / self.settings.prp.dt)) + 1, 2)
 
         # The propagation solver is compiled with a per-segment tau capacity of
-        # ``max_tau_len``.  A uniform ``linspace`` grid sized from the batch
-        # ``T_max`` can place more output times into one normalized segment than
-        # that capacity when shorter trajectories are padded to the same count.
-        n_times = min(n_times, self.settings.prp.max_tau_len)
+        # ``max_tau_len`` — the *per-segment* buffer width, not a total-point
+        # budget.  A uniform ``linspace`` grid over an element's real time span
+        # drops about ``(n_times - 1) * seg_dur / span`` points into each
+        # segment, so the binding quantity is the largest segment-duration
+        # fraction across the batch, not the total point count.  Bound
+        # ``n_times`` so the busiest segment of any element — plus the endpoint
+        # sample ``simulate_nonlinear_time`` appends — stays within
+        # ``max_tau_len``:
+        #     (n_times - 1) * frac_max + 2 <= max_tau_len.
+        u_batch = np.asarray(results.U[-1])  # (B, N, n_u)
+        frac_max = 0.0
+        for b in range(B):
+            t_b = np.asarray(
+                s_to_t(x_batch[b], u_batch[b], self.settings, self._discretizer)
+            ).reshape(-1)
+            frac_max = max(frac_max, float(np.diff(t_b).max() / (t_b[-1] - t_b[0])))
+        per_segment_bound = max(int((self.settings.prp.max_tau_len - 2) / frac_max) + 1, 2)
+        n_times = min(n_times, per_segment_bound)
 
         t_fulls: List[np.ndarray] = []
         x_fulls: List[np.ndarray] = []

{openscvx-0.5.3.dev34.dist-info → openscvx-0.5.3.dev36.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.5.3.dev34
+Version: 0.5.3.dev36
 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
@@ -41,11 +41,8 @@ Provides-Extra: frax
 Requires-Dist: frax>=0.0.4; extra == "frax"
 Provides-Extra: test
 Requires-Dist: pytest; extra == "test"
-Requires-Dist: scipy; extra == "test"
-Requires-Dist: jaxlie; extra == "test"
-Requires-Dist: svgpathtools; extra == "test"
 Requires-Dist: pytest-xdist; extra == "test"
-Requires-Dist: frax>=0.0.4; extra == "test"
+Requires-Dist: scipy; extra == "test"
 Dynamic: license-file
 
 <a id="readme-top"></a>
@@ -53,8 +50,8 @@ Dynamic: license-file
 <img src="figures/openscvx_logo.svg" width="1200"/>
 <p align="center">
     <a href="https://github.com/OpenSCvx/OpenSCvx/actions/workflows/lint.yml"><img src="https://github.com/OpenSCvx/OpenSCvx/actions/workflows/lint.yml/badge.svg"/></a>
-    <a href="https://github.com/OpenSCvx/OpenSCvx/actions/workflows/tests-unit.yml"><img src="https://github.com/OpenSCvx/OpenSCvx/actions/workflows/tests-unit.yml/badge.svg"/></a>
-    <a href="https://github.com/OpenSCvx/OpenSCvx/actions/workflows/tests-integration.yml"><img src="https://github.com/OpenSCvx/OpenSCvx/actions/workflows/tests-integration.yml/badge.svg"/></a>
+    <a href="https://github.com/OpenSCvx/OpenSCvx/actions/workflows/tests.yml"><img src="https://github.com/OpenSCvx/OpenSCvx/actions/workflows/tests.yml/badge.svg"/></a>
+    <a href="https://github.com/OpenSCvx/OpenSCvx/actions/workflows/tests-examples.yml"><img src="https://github.com/OpenSCvx/OpenSCvx/actions/workflows/tests-examples.yml/badge.svg"/></a>
     <a href="https://github.com/OpenSCvx/OpenSCvx/actions/workflows/nightly.yml"><img src="https://github.com/OpenSCvx/OpenSCvx/actions/workflows/nightly.yml/badge.svg"/></a>
     <a href="https://github.com/OpenSCvx/OpenSCvx/actions/workflows/release.yml"><img src="https://github.com/OpenSCvx/OpenSCvx/actions/workflows/release.yml/badge.svg?event=release"/></a>
 </p>
@@ -253,6 +250,22 @@ This repo has the following features:
 
 <p align="right">(<a href="#readme-top">back to top</a>)</p>
 
+## Third-Party Integrations
+
+OpenSCvx integrates with several optional third-party packages. Each installs as a pip extra (`pip install openscvx[<extra>]`); without it, the library and its tests degrade gracefully — the corresponding tests simply skip. Integrations with a badge are tested against `main` on every push and re-checked weekly against the latest upstream releases.
+
+| Integration | Extra | Provides | Status |
+| --- | --- | --- | --- |
+| [MuJoCo MJX](https://mujoco.readthedocs.io/en/stable/mjx.html) | `mjx` | MJX dynamics adapter (`openscvx.integrations`) | [![mjx](https://github.com/OpenSCvx/OpenSCvx/actions/workflows/tests-mjx.yml/badge.svg?branch=main)](https://github.com/OpenSCvx/OpenSCvx/actions/workflows/tests-mjx.yml) |
+| [jaxlie](https://github.com/brentyi/jaxlie) | `lie` | SO(3)/SE(3) Lie-group operations and IK initialization | [![jaxlie](https://github.com/OpenSCvx/OpenSCvx/actions/workflows/tests-lie.yml/badge.svg?branch=main)](https://github.com/OpenSCvx/OpenSCvx/actions/workflows/tests-lie.yml) |
+| [qpax](https://github.com/qpax-solver/qpax) | `qpax` | JAX-native QP solver backend | [![qpax](https://github.com/OpenSCvx/OpenSCvx/actions/workflows/tests-qpax.yml/badge.svg?branch=main)](https://github.com/OpenSCvx/OpenSCvx/issues/550) |
+| [CVXPYGen](https://github.com/cvxgrp/cvxpygen) | `cvxpygen` | Generated C solver code for the convex subproblem | [![cvxpygen](https://github.com/OpenSCvx/OpenSCvx/actions/workflows/tests-cvxpygen.yml/badge.svg?branch=main)](https://github.com/OpenSCvx/OpenSCvx/issues/551) |
+| [moreau](https://pypi.org/project/moreau/) | `moreau` | Licensed QP solver backend | ![moreau](https://img.shields.io/badge/moreau-license%20required-lightgrey) |
+| [stljax](https://github.com/UW-CTRL/stljax) | `stl` | Signal Temporal Logic robustness bridge | ![stljax](https://img.shields.io/badge/stljax-no%20tests%20yet-lightgrey) |
+| [frax](https://github.com/danielpmorton/frax) | `frax` | Robot dynamics for the manipulator examples | [![frax](https://img.shields.io/badge/frax-weekly%20examples%20sweep-blue)](https://github.com/OpenSCvx/OpenSCvx/actions/workflows/tests-examples.yml) |
+
+<p align="right">(<a href="#readme-top">back to top</a>)</p>
+
 ## Acknowledgements
 
 This work was supported by a NASA Space Technology Graduate Research Opportunity and the Office of Naval Research under grant N00014-17-1-2433. The authors would like to acknowledge Natalia Pavlasek, Fabio Spada, Samuel Buckner, Abhi Kamath, Govind Chari, and Purnanand Elango as well as the other Autonomous Controls Laboratory members, for their many helpful discussions and support throughout this work.

{openscvx-0.5.3.dev34.dist-info → openscvx-0.5.3.dev36.dist-info}/RECORD

@@ -1,9 +1,9 @@
 openscvx/__init__.py,sha256=sxiqBoS5jv9UmNSxnrokFXeFMnDSkAxUCtC4X-s-vHk,4456
 openscvx/__main__.py,sha256=Hwm7mtVg3tLdvoUPkpcQv8KF3wxl72PNLBp9axFu8GY,2991
-openscvx/_version.py,sha256=L9ZphxtxeeGsqqfYNJWZN6zQn1NOfuaVXbJ1EAHCAlQ,543
+openscvx/_version.py,sha256=mGTOVICdRgn5_ZJoQY5syJ-Phm4G17DXDiF9_f2TsJ8,543
 openscvx/config.py,sha256=qfDDYoCe6WqJglKsx5b2W48YOglXenKr-PVRRdCFhYE,9898
 openscvx/loader.py,sha256=5WDLVA6CQxnyi1pRBfP8jQQc0r8RiAM2O_ItKgMXxAk,7660
-openscvx/problem.py,sha256=KF7uU7n9-4_5doF9fHgCKYyNYK5f4RXvEDQPTsGL4rU,98992
+openscvx/problem.py,sha256=aJlXbpwQ9_8gP8N2Ff1pz8biF0FoIZTyDYvLX65DLfw,100224
 openscvx/algorithms/__init__.py,sha256=xEB2sZ_fFbQUSOJY4hOzsZe0cdCuD5LawvrF4fzSt8E,5645
 openscvx/algorithms/base.py,sha256=jMneNL5lc-qg24vvcGQ4NP93d71boRiUGh6uKBykOlM,11638
 openscvx/algorithms/history.py,sha256=aAS3VWT5d4kfsIl5a34YFYglHayPqn0hZGmhXVGbE0g,17456
@@ -159,11 +159,11 @@ openscvx/utils/caching.py,sha256=Uw2e0G1UNn_vmMDqUZGszIH-O9LJhR4wdVKSPToHiy0,169
 openscvx/utils/printing.py,sha256=dsccZ9sXc3TBWShQvBg1Al4UFGMP77ApblfxteEJHLQ,16515
 openscvx/utils/profiling.py,sha256=k2x-i0CpG_kRe6dNcNBGu-ylrOtQw4B4C1UaOTjUMfU,1678
 openscvx/utils/utils.py,sha256=M25RHE_7DSr3Reaca0xCXnDSY9KHuqYvXdh5m1ZotEc,3047
-openscvx-0.5.3.dev34.dist-info/licenses/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-openscvx-0.5.3.dev34.dist-info/METADATA,sha256=STfOaISxMRiB5ex5IXZ8nvFrWo1CsQWSW00O8DoSK_E,10924
-openscvx-0.5.3.dev34.dist-info/WHEEL,sha256=K260EYznzXsJYBQGqmI8VTxEdiZYNvDZwW9cBh9-_MA,91
-openscvx-0.5.3.dev34.dist-info/entry_points.txt,sha256=1Oqek8Sy28hmAZFgZXDxFXYVf56YLYWlHjhh9RYJ7wE,52
-openscvx-0.5.3.dev34.dist-info/scm_file_list.json,sha256=-h7DqIzKmhRw0PrIgPrSxbDVDWqEMf23QMitgq0uVbU,18041
-openscvx-0.5.3.dev34.dist-info/scm_version.json,sha256=F2KcBa114FhBdQZcIJFW21NTzPOZ39zQL9LB5tP9Uhs,161
-openscvx-0.5.3.dev34.dist-info/top_level.txt,sha256=nUT4Ybefzh40H8tVXqc1RzKESy_MAowElb-CIvAbd4Q,9
-openscvx-0.5.3.dev34.dist-info/RECORD,,
+openscvx-0.5.3.dev36.dist-info/licenses/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+openscvx-0.5.3.dev36.dist-info/METADATA,sha256=lL32CihWUYZOvks9xoNvU4JRlSpTB2nHOeHeCnicbL8,12998
+openscvx-0.5.3.dev36.dist-info/WHEEL,sha256=K260EYznzXsJYBQGqmI8VTxEdiZYNvDZwW9cBh9-_MA,91
+openscvx-0.5.3.dev36.dist-info/entry_points.txt,sha256=1Oqek8Sy28hmAZFgZXDxFXYVf56YLYWlHjhh9RYJ7wE,52
+openscvx-0.5.3.dev36.dist-info/scm_file_list.json,sha256=VDDQ6kOec1NxVc9evE4Q_lhnpoHi_Hw2HmjvfIizIwA,18303
+openscvx-0.5.3.dev36.dist-info/scm_version.json,sha256=dCKdBs9eYy9EKjjzHcLKE-MzfAIfZINu3LplpLc8b58,161
+openscvx-0.5.3.dev36.dist-info/top_level.txt,sha256=nUT4Ybefzh40H8tVXqc1RzKESy_MAowElb-CIvAbd4Q,9
+openscvx-0.5.3.dev36.dist-info/RECORD,,

{openscvx-0.5.3.dev34.dist-info → openscvx-0.5.3.dev36.dist-info}/scm_file_list.json

@@ -216,26 +216,17 @@
     "tests/test_integrators.py",
     "tests/test_discretization.py",
     "tests/test_init.py",
-    "tests/test_multishot_propagation.py",
     "tests/test_propagation.py",
     "tests/hohmann_analytical.py",
     "tests/test_expert.py",
     "tests/test_results_parameters.py",
+    "tests/test_post_process_batched_tau_clamp.py",
     "tests/test_solve_batched_inference.py",
-    "tests/test_solve_jax_bare_brachistochrone.py",
     "tests/test_cvxpygen_optional.py",
-    "tests/test_solve_batched_export_roundtrip.py",
-    "tests/test_solve_batched_brachistochrone.py",
-    "tests/_marks.py",
-    "tests/test_impulsive.py",
     "tests/conftest.py",
-    "tests/test_solve_jax_vmap_brachistochrone.py",
-    "tests/test_brachistochrone.py",
-    "tests/test_solve_jax_jit_brachistochrone.py",
     "tests/test_autotuning.py",
-    "tests/test_solve_batched_cvxpy_export_errors.py",
-    "tests/test_solve_jax_vmap_converged_no_drift.py",
     "tests/symbolic/test_preprocessing.py",
+    "tests/symbolic/test_gmsr.py",
     "tests/symbolic/__init__.py",
     "tests/symbolic/test_lower_cvxpy.py",
     "tests/symbolic/test_augmentation.py",
@@ -277,8 +268,17 @@
     "tests/integrations/test_mjx_dynamics.py",
     "tests/integrations/__init__.py",
     "tests/integrations/test_mjx.py",
-    "tests/expr/test_gmsr.py",
-    "tests/expr/__init__.py",
+    "tests/e2e/__init__.py",
+    "tests/e2e/test_multishot_propagation.py",
+    "tests/e2e/test_solve_jax_bare_brachistochrone.py",
+    "tests/e2e/test_solve_batched_export_roundtrip.py",
+    "tests/e2e/test_solve_batched_brachistochrone.py",
+    "tests/e2e/test_impulsive.py",
+    "tests/e2e/test_solve_jax_vmap_brachistochrone.py",
+    "tests/e2e/test_brachistochrone.py",
+    "tests/e2e/test_solve_jax_jit_brachistochrone.py",
+    "tests/e2e/test_solve_batched_cvxpy_export_errors.py",
+    "tests/e2e/test_solve_jax_vmap_converged_no_drift.py",
     "tests/solvers/__init__.py",
     "tests/solvers/test_moreau_ptr_solver.py",
     "tests/solvers/test_qpax_ptr_solver.py",
@@ -412,14 +412,19 @@
     "examples/frax/panda_frax_waypoint.py",
     ".github/release-drafter.yml",
     ".github/assets/logo.svg",
+    ".github/workflows/tests-qpax.yml",
     ".github/workflows/branch-name.yml",
-    ".github/workflows/tests-integration.yml",
+    ".github/workflows/tests-lie.yml",
     ".github/workflows/release.yml",
+    ".github/workflows/tests-cvxpygen.yml",
+    ".github/workflows/tests-mjx.yml",
     ".github/workflows/docs.yml",
+    ".github/workflows/tests.yml",
     ".github/workflows/lint.yml",
     ".github/workflows/release-drafter.yml",
+    ".github/workflows/tests-examples.yml",
     ".github/workflows/_docs.yml",
-    ".github/workflows/tests-unit.yml",
+    ".github/workflows/_extra.yml",
     ".github/workflows/nightly.yml"
   ]
 }

{openscvx-0.5.3.dev34.dist-info → openscvx-0.5.3.dev36.dist-info}/scm_version.json

@@ -1,7 +1,7 @@
 {
   "tag": "0.5.2",
-  "distance": 34,
-  "node": "g264808b5c8dfd13d52b35c4d96c885b010058203",
+  "distance": 36,
+  "node": "g1eddc1a14ee7e851448b965cc29df898aa2a822a",
   "dirty": false,
   "branch": "main",
   "node_date": "2026-07-06"