openscvx 0.5.3.dev34__tar.gz → 0.5.3.dev36__tar.gz

openscvx-0.5.3.dev36/.github/workflows/_extra.yml

@@ -0,0 +1,41 @@
+name: 🔌 Third-Party Extra
+
+# Reusable workflow behind the per-integration badge workflows (tests-mjx.yml,
+# tests-lie.yml, ...). Installs one optional extra and runs exactly the tests
+# carrying its marker — marker name == extra name, so one input drives both.
+
+on:
+  workflow_call:
+    inputs:
+      extra:
+        description: 'pyproject optional extra to install; also the pytest marker to select'
+        required: true
+        type: string
+
+jobs:
+  test:
+    name: ${{ inputs.extra }} (Python 3.13, ubuntu-latest)
+    runs-on: ubuntu-latest
+    timeout-minutes: 15
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v4
+
+    - name: Set up Python
+      uses: actions/setup-python@v5
+      with:
+        python-version: '3.13'
+
+    - name: Install uv
+      uses: astral-sh/setup-uv@v7
+      with:
+        enable-cache: true
+
+    - name: Install dependencies
+      run: |
+        uv pip install --system -e ".[test,${{ inputs.extra }}]"
+
+    - name: Run ${{ inputs.extra }} tests
+      run: |
+        pytest -v -m "${{ inputs.extra }} and not examples" --durations=10 --tb=short -n auto

openscvx-0.5.3.dev36/.github/workflows/tests-cvxpygen.yml

@@ -0,0 +1,18 @@
+name: cvxpygen
+
+# Badge workflow: health of the cvxpygen integration. Currently failing at
+# install (#551: cvxpygen>=1.0.0 needs cvxpy>=1.9, conflicting with the <1.9
+# pin) — cron + dispatch only while broken, so merges to main don't carry a
+# guaranteed red check; add a push trigger alongside the extras-job install
+# once the pins reconcile.
+
+on:
+  schedule:
+    - cron: '0 6 * * 1'  # Weekly on Monday, offset from the Sunday examples sweep
+  workflow_dispatch:
+
+jobs:
+  cvxpygen:
+    uses: ./.github/workflows/_extra.yml
+    with:
+      extra: cvxpygen

openscvx-0.5.3.dev34/.github/workflows/tests-integration.yml → openscvx-0.5.3.dev36/.github/workflows/tests-examples.yml

@@ -1,4 +1,4 @@
-name: 🧪 Integration Tests
+name: 🧪 Examples Sweep
 
 on:
   release:
@@ -8,10 +8,10 @@ on:
     - cron: '0 0 * * 0'  # Weekly on Sunday at midnight UTC
 
 jobs:
-  integration-tests:
-    name: Integration Tests
+  examples:
+    name: Examples Sweep
     runs-on: ${{ matrix.os }}
-    timeout-minutes: 30  # Integration tests can be slow
+    timeout-minutes: 30  # Solving every example is slow
 
     strategy:
       fail-fast: false  # Continue testing other examples even if one fails
@@ -35,18 +35,21 @@ jobs:
 
     - name: Install dependencies
       run: |
-        # Install package with optional cvxpygen and test packages
-        uv pip install --system -e ".[cvxpygen, test]"
+        # Install the package with every extra the examples exercise.
+        # cvxpygen omitted: its extra is unsatisfiable while cvxpy is pinned <1.9
+        # (cvxpygen>=1.0.0 needs cvxpy>=1.9, #551); its tests skip until that resolves.
+        # qpax omitted until its solves are stable on Linux runners (#550).
+        uv pip install --system -e ".[test,mjx,lie,frax,stl]"
 
-    - name: Run integration tests
+    - name: Run examples sweep
       run: |
-        pytest -v -m integration --durations=10 -n auto
+        pytest -v -m examples --durations=10 -n auto
 
     - name: Upload test results on failure
       if: failure()
       uses: actions/upload-artifact@v4
       with:
-        name: integration-test-results-py${{ matrix.python-version }}-${{ matrix.os }}
+        name: examples-test-results-py${{ matrix.python-version }}-${{ matrix.os }}
         path: |
           .pytest_cache/
           test-results/

openscvx-0.5.3.dev36/.github/workflows/tests-lie.yml

@@ -0,0 +1,18 @@
+name: jaxlie
+
+# Badge workflow: health of the jaxlie (Lie group) integration on main.
+# The weekly cron catches breakage from upstream releases between commits.
+
+on:
+  push:
+    branches:
+      - main
+  schedule:
+    - cron: '0 6 * * 1'  # Weekly on Monday, offset from the Sunday examples sweep
+  workflow_dispatch:
+
+jobs:
+  lie:
+    uses: ./.github/workflows/_extra.yml
+    with:
+      extra: lie

openscvx-0.5.3.dev36/.github/workflows/tests-mjx.yml

@@ -0,0 +1,18 @@
+name: mjx
+
+# Badge workflow: health of the MuJoCo MJX integration on main.
+# The weekly cron catches breakage from upstream releases between commits.
+
+on:
+  push:
+    branches:
+      - main
+  schedule:
+    - cron: '0 6 * * 1'  # Weekly on Monday, offset from the Sunday examples sweep
+  workflow_dispatch:
+
+jobs:
+  mjx:
+    uses: ./.github/workflows/_extra.yml
+    with:
+      extra: mjx

openscvx-0.5.3.dev36/.github/workflows/tests-qpax.yml

@@ -0,0 +1,16 @@
+name: qpax
+
+# Badge workflow: health of the qpax integration. Currently failing (#550) —
+# cron + dispatch only while broken, so merges to main don't carry a guaranteed
+# red check; add a push trigger alongside the extras-job install once fixed.
+
+on:
+  schedule:
+    - cron: '0 6 * * 1'  # Weekly on Monday, offset from the Sunday examples sweep
+  workflow_dispatch:
+
+jobs:
+  qpax:
+    uses: ./.github/workflows/_extra.yml
+    with:
+      extra: qpax

openscvx-0.5.3.dev36/.github/workflows/tests.yml

@@ -0,0 +1,140 @@
+name: 🧪 Tests
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+    types: [opened, synchronize, reopened, ready_for_review]
+
+jobs:
+  unit:
+    if: ${{ !github.event.pull_request.draft }}
+    name: Unit Tests (Python ${{ matrix.python-version }}, ${{ matrix.os }})
+    runs-on: ${{ matrix.os }}
+    timeout-minutes: 15  # Unit tests should be fast
+
+    strategy:
+      fail-fast: false  # Continue testing other versions even if one fails
+      matrix:
+        os: [ubuntu-latest, macos-latest]
+        python-version: ['3.11', '3.12', '3.13', '3.14']
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v4
+
+    - name: Set up Python
+      uses: actions/setup-python@v5
+      with:
+        python-version: ${{ matrix.python-version }}
+
+    - name: Install uv
+      uses: astral-sh/setup-uv@v7
+      with:
+        enable-cache: true
+
+    - name: Install dependencies
+      run: |
+        uv pip install --system -e ".[test]"
+
+    - name: Run unit tests
+      run: |
+        pytest -v -m "not e2e and not examples and not extras" --durations=10 --tb=short -n auto
+
+    - name: Upload test results on failure
+      if: failure()
+      uses: actions/upload-artifact@v4
+      with:
+        name: unit-test-results-py${{ matrix.python-version }}-${{ matrix.os }}
+        path: |
+          .pytest_cache/
+          test-results/
+        retention-days: 7
+
+  e2e:
+    needs: unit
+    name: E2E Tests (Python ${{ matrix.python-version }}, ${{ matrix.os }})
+    runs-on: ${{ matrix.os }}
+    timeout-minutes: 15
+
+    strategy:
+      fail-fast: false  # Continue testing other versions even if one fails
+      matrix:
+        os: [ubuntu-latest, macos-latest]
+        python-version: ['3.11', '3.12', '3.13', '3.14']
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v4
+
+    - name: Set up Python
+      uses: actions/setup-python@v5
+      with:
+        python-version: ${{ matrix.python-version }}
+
+    - name: Install uv
+      uses: astral-sh/setup-uv@v7
+      with:
+        enable-cache: true
+
+    - name: Install dependencies
+      run: |
+        uv pip install --system -e ".[test]"
+
+    - name: Run e2e tests
+      run: |
+        pytest -v -m "e2e and not extras" --durations=10 --tb=short -n auto
+
+    - name: Upload test results on failure
+      if: failure()
+      uses: actions/upload-artifact@v4
+      with:
+        name: e2e-test-results-py${{ matrix.python-version }}-${{ matrix.os }}
+        path: |
+          .pytest_cache/
+          test-results/
+        retention-days: 7
+
+  extras:
+    needs: unit
+    name: Extras Tests (Python 3.13, ubuntu-latest)
+    runs-on: ubuntu-latest
+    timeout-minutes: 15
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v4
+
+    - name: Set up Python
+      uses: actions/setup-python@v5
+      with:
+        python-version: '3.13'
+
+    - name: Install uv
+      uses: astral-sh/setup-uv@v7
+      with:
+        enable-cache: true
+
+    - name: Install dependencies
+      run: |
+        # cvxpygen omitted: its extra is unsatisfiable while cvxpy is pinned <1.9
+        # (cvxpygen>=1.0.0 needs cvxpy>=1.9, #551); its tests skip until that resolves.
+        # qpax omitted until its solves are stable on Linux runners (#550).
+        uv pip install --system -e ".[test,mjx,lie]"
+
+    - name: Run extras tests
+      run: |
+        pytest -v -m "extras and not examples" --durations=10 --tb=short -n auto
+
+    - name: Upload test results on failure
+      if: failure()
+      uses: actions/upload-artifact@v4
+      with:
+        name: extras-test-results
+        path: |
+          .pytest_cache/
+          test-results/
+        retention-days: 7

{openscvx-0.5.3.dev34 → openscvx-0.5.3.dev36}/CONTRIBUTING.md

@@ -149,18 +149,19 @@ See the `[tool.ruff]` section in `pyproject.toml` for our configuration.
 
 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
+- **[tests.yml](.github/workflows/tests.yml)**: Runs on every PR - a fast `unit` job, then gated `e2e` (full SCP solves) and `extras` (optional-dependency tests) jobs
+- **[tests-examples.yml](.github/workflows/tests-examples.yml)**: Runs weekly - solves every example problem 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)
+pytest -m "not e2e and not examples and not extras"    # Fast unit tests
+pytest -m "e2e and not extras"                         # Full SCP-solve tests
+pytest -m extras                                       # Optional-dependency tests
+pytest -m examples                                     # Solve every example (slow)
+pytest tests/e2e/test_brachistochrone.py -v            # Just the brachistochrone benchmark
 ```
 
 ##### Brachistochrone Problem

{openscvx-0.5.3.dev34/openscvx.egg-info → openscvx-0.5.3.dev36}/PKG-INFO

@@ -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 → openscvx-0.5.3.dev36}/README.md

@@ -3,8 +3,8 @@
 <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>
@@ -203,6 +203,22 @@ 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 → openscvx-0.5.3.dev36}/docs/UsersGuide/01_hello_world_brachistochrone.md

@@ -58,7 +58,7 @@ $$
 t_f^* = \sqrt{\frac{r}{g}} \phi_f
 $$
 
-Because of these advantageous properties the Brachistochrone problem is extensively leveraged as a [unit test](https://github.com/OpenSCvx/OpenSCvx/blob/main/tests/test_brachistochrone.py).
+Because of these advantageous properties the Brachistochrone problem is extensively leveraged as a [unit test](https://github.com/OpenSCvx/OpenSCvx/blob/main/tests/e2e/test_brachistochrone.py).
 We would highly recommend that anyone setting out to develop some kind of optimization software do the same.
 It may not be necessary _nor_ sufficient, but a lot of things have to be working properly to solve Brachistochrone problem.
 

{openscvx-0.5.3.dev34 → openscvx-0.5.3.dev36}/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-0.5.3.dev34 → openscvx-0.5.3.dev36}/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 → openscvx-0.5.3.dev36/openscvx.egg-info}/PKG-INFO

@@ -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 → openscvx-0.5.3.dev36}/openscvx.egg-info/SOURCES.txt

@@ -8,14 +8,19 @@ pyproject.toml
 .github/release-drafter.yml
 .github/assets/logo.svg
 .github/workflows/_docs.yml
+.github/workflows/_extra.yml
 .github/workflows/branch-name.yml
 .github/workflows/docs.yml
 .github/workflows/lint.yml
 .github/workflows/nightly.yml
 .github/workflows/release-drafter.yml
 .github/workflows/release.yml
-.github/workflows/tests-integration.yml
-.github/workflows/tests-unit.yml
+.github/workflows/tests-cvxpygen.yml
+.github/workflows/tests-examples.yml
+.github/workflows/tests-lie.yml
+.github/workflows/tests-mjx.yml
+.github/workflows/tests-qpax.yml
+.github/workflows/tests.yml
 docs/citation.md
 docs/examples.md
 docs/index.md
@@ -337,33 +342,23 @@ scripts/gen_example_pages.py
 scripts/gen_ref_pages.py
 scripts/mkdocs_copy_viser_client_hook.py
 tests/__init__.py
-tests/_marks.py
 tests/brachistochrone_analytical.py
 tests/conftest.py
 tests/hohmann_analytical.py
 tests/test_autotuning.py
-tests/test_brachistochrone.py
 tests/test_cvxpygen_optional.py
 tests/test_discretization.py
 tests/test_examples.py
 tests/test_expert.py
-tests/test_impulsive.py
 tests/test_init.py
 tests/test_integrators.py
 tests/test_loader.py
-tests/test_multishot_propagation.py
 tests/test_optimization_results.py
 tests/test_plotting.py
+tests/test_post_process_batched_tau_clamp.py
 tests/test_propagation.py
 tests/test_results_parameters.py
-tests/test_solve_batched_brachistochrone.py
-tests/test_solve_batched_cvxpy_export_errors.py
-tests/test_solve_batched_export_roundtrip.py
 tests/test_solve_batched_inference.py
-tests/test_solve_jax_bare_brachistochrone.py
-tests/test_solve_jax_jit_brachistochrone.py
-tests/test_solve_jax_vmap_brachistochrone.py
-tests/test_solve_jax_vmap_converged_no_drift.py
 tests/algorithms/__init__.py
 tests/algorithms/_iteration_helpers.py
 tests/algorithms/test_algorithm_state_pytree.py
@@ -374,8 +369,17 @@ tests/algorithms/autotuner/__init__.py
 tests/algorithms/autotuner/test_defaults_agreement.py
 tests/algorithms/autotuner/test_hyper_overrides.py
 tests/algorithms/autotuner/test_update_weights_jit.py
-tests/expr/__init__.py
-tests/expr/test_gmsr.py
+tests/e2e/__init__.py
+tests/e2e/test_brachistochrone.py
+tests/e2e/test_impulsive.py
+tests/e2e/test_multishot_propagation.py
+tests/e2e/test_solve_batched_brachistochrone.py
+tests/e2e/test_solve_batched_cvxpy_export_errors.py
+tests/e2e/test_solve_batched_export_roundtrip.py
+tests/e2e/test_solve_jax_bare_brachistochrone.py
+tests/e2e/test_solve_jax_jit_brachistochrone.py
+tests/e2e/test_solve_jax_vmap_brachistochrone.py
+tests/e2e/test_solve_jax_vmap_converged_no_drift.py
 tests/fixtures/brachistochrone.json
 tests/fixtures/brachistochrone.yaml
 tests/integrations/__init__.py
@@ -393,6 +397,7 @@ tests/solvers/test_qpax_ptr_solver.py
 tests/solvers/test_subproblem_pytree.py
 tests/symbolic/__init__.py
 tests/symbolic/test_augmentation.py
+tests/symbolic/test_gmsr.py
 tests/symbolic/test_hashing.py
 tests/symbolic/test_lower_cvxpy.py
 tests/symbolic/test_lower_jax.py