openscvx 0.5.3.dev56__tar.gz → 0.5.3.dev58__tar.gz

{openscvx-0.5.3.dev56 → openscvx-0.5.3.dev58}/.github/workflows/_docs.yml

@@ -65,7 +65,7 @@ jobs:
         uv pip install --system mike
 
     - name: Install package
-      run: uv pip install --system -e .
+      run: uv pip install --system -e ".[plotting]"
 
     - name: Build documentation (check only)
       if: ${{ !inputs.version }}

{openscvx-0.5.3.dev56 → openscvx-0.5.3.dev58}/.github/workflows/tests-examples.yml

@@ -39,7 +39,9 @@ jobs:
         # 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]"
+        # moreau omitted: examples that need it carry the moreau marker and skip
+        # here. Solver-level moreau tests run in tests-moreau.yml.
+        uv pip install --system -e ".[test,plotting,mjx,lie,frax,stl]"
 
     - name: Run examples sweep
       run: |

openscvx-0.5.3.dev58/.github/workflows/tests-moreau.yml

@@ -0,0 +1,20 @@
+name: moreau
+
+# Badge workflow: health of the moreau integration on main.
+# The weekly cron catches breakage from upstream releases between commits.
+# Kept off the main tests.yml extras job so a moreau release cannot fail
+# the mjx/lie checks.
+
+on:
+  push:
+    branches:
+      - main
+  schedule:
+    - cron: '0 6 * * 1'  # Weekly on Monday, offset from the Sunday examples sweep
+  workflow_dispatch:
+
+jobs:
+  moreau:
+    uses: ./.github/workflows/_extra.yml
+    with:
+      extra: moreau

{openscvx-0.5.3.dev56 → openscvx-0.5.3.dev58}/.github/workflows/tests.yml

@@ -38,7 +38,7 @@ jobs:
 
     - name: Install dependencies
       run: |
-        uv pip install --system -e ".[test]"
+        uv pip install --system -e ".[test,plotting]"
 
     - name: Run unit tests
       run: |
@@ -82,7 +82,7 @@ jobs:
 
     - name: Install dependencies
       run: |
-        uv pip install --system -e ".[test]"
+        uv pip install --system -e ".[test,plotting]"
 
     - name: Run e2e tests
       run: |
@@ -123,6 +123,8 @@ jobs:
         # 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).
+        # moreau omitted: tests-moreau.yml installs it and runs `-m moreau`, so an
+        # upstream moreau break stays on that badge.
         uv pip install --system -e ".[test,mjx,lie]"
 
     - name: Run extras tests

{openscvx-0.5.3.dev56 → openscvx-0.5.3.dev58}/CONTRIBUTING.md

@@ -16,10 +16,11 @@ source venv/bin/activate  # On Windows: venv\Scripts\activate
 Then install the package in editable mode with development dependencies:
 
 ```bash
-pip install -e ".[test]"
+pip install -e ".[test,plotting]"
 ```
 
 For additional features, you can install optional dependencies:
+- `pip install -e ".[plotting]"` - Plotly, Matplotlib, and Viser visualization
 - `pip install -e ".[cvxpygen]"` - Code generation support
 - `pip install -e ".[stl]"` - STL (Signal Temporal Logic) constraints
 
@@ -32,7 +33,7 @@ git clone git@github.com:OpenSCvx/OpenSCvx.git
 cd OpenSCvx
 uv venv
 source .venv/bin/activate  # On Windows: .venv\Scripts\activate
-uv pip install -e ".[test]"
+uv pip install -e ".[test,plotting]"
 ```
 
 To contribute changes, you'll need to create a branch or fork. See [Forking and Merging](#forking-and-merging) below for details on our workflow and [Branch Naming Conventions](#branch-naming-conventions) for required naming patterns.

{openscvx-0.5.3.dev56/openscvx.egg-info → openscvx-0.5.3.dev58}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.5.3.dev56
+Version: 0.5.3.dev58
 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
@@ -14,13 +14,9 @@ Requires-Dist: cvxpy>=1.8.1
 Requires-Dist: qoco
 Requires-Dist: numpy
 Requires-Dist: jax
-Requires-Dist: plotly
 Requires-Dist: termcolor
 Requires-Dist: diffrax
-Requires-Dist: absl-py
 Requires-Dist: flatbuffers
-Requires-Dist: viser
-Requires-Dist: matplotlib
 Requires-Dist: pyyaml
 Requires-Dist: pydantic>=2.0
 Provides-Extra: cvxpygen
@@ -39,6 +35,10 @@ Requires-Dist: mujoco>=3.0; extra == "mjx"
 Requires-Dist: mujoco-mjx>=3.0; extra == "mjx"
 Provides-Extra: frax
 Requires-Dist: frax>=0.0.4; extra == "frax"
+Provides-Extra: plotting
+Requires-Dist: matplotlib; extra == "plotting"
+Requires-Dist: plotly; extra == "plotting"
+Requires-Dist: viser; extra == "plotting"
 Provides-Extra: test
 Requires-Dist: pytest; extra == "test"
 Requires-Dist: pytest-xdist; extra == "test"
@@ -156,9 +156,10 @@ uv pip install openscvx
 > [!TIP]
 > **Optional dependencies**
 >
-> For CVXPYGen code generation:
+> Plotting (Plotly, Matplotlib, and Viser) and CVXPYGen code generation:
 > ```bash
-> pip install openscvx[cvxpygen]
+> pip install "openscvx[plotting]"
+> pip install "openscvx[cvxpygen]"
 > ```
 
 > [!TIP]
@@ -221,7 +222,7 @@ Check out the OpenSCvx documentation:
 We also have a selection of problems in the `examples/` folder as well as on the [Examples page](https://openscvx.github.io/OpenSCvx/latest/Examples/abstract/brachistochrone/) of the documentation. The example trajectory optimization problems are grouped by application and represent some of the problem types that can be solved by OpenSCvx.
 
 > [!Note]
-> To run the examples, you'll need to clone this repository and install OpenSCvx in editable mode (`pip install -e .`). See the [Installing From Source](#installing-from-source) section above for detailed installation instructions.
+> To run the examples, you'll need to clone this repository and install OpenSCvx in editable mode with the plotting extra (`pip install -e ".[plotting]"`). See the [Installing From Source](#installing-from-source) section above for detailed installation instructions.
 
 To run a problem simply run any of the examples directly, for example:
 
@@ -260,7 +261,7 @@ OpenSCvx integrates with several optional third-party packages. Each installs as
 | [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) |
+| [moreau](https://pypi.org/project/moreau/) | `moreau` | Open Source SOCP solver backend | [![moreau](https://github.com/OpenSCvx/OpenSCvx/actions/workflows/tests-moreau.yml/badge.svg?branch=main)](https://github.com/OpenSCvx/OpenSCvx/actions/workflows/tests-moreau.yml) |
 | [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) |
 
@@ -275,7 +276,7 @@ This work was supported by a NASA Space Technology Graduate Research Opportunity
 Please cite the following works if you use the repository,
 
 ```tex
-@misc{hayner2026openscvxopensourcemodularextensible,
+@misc{hayner2026openscvx,
       title={OpenSCvx: An Open-Source Modular and Extensible Nonlinear Trajectory Planning Package}, 
       author={Christopher R. Hayner and Griffin J. Norris and Fabio Spada and Samet Uzun and Avi Mittal and Behcet Acıkmese and Karen Leung},
       year={2026},
@@ -315,4 +316,4 @@ keywords = {Trajectory optimization, Optimal control, Continuous-time constraint
 }
 ```
 
-Additionally please run `problem.citation()` to generate the appropriate bibtex citations for the corresponding components used within your problem.
+Additionally please run `problem.citation()` after `problem.intitialize()` to generate the appropriate bibtex citations for the corresponding components used within your problem.

{openscvx-0.5.3.dev56 → openscvx-0.5.3.dev58}/README.md

@@ -109,9 +109,10 @@ uv pip install openscvx
 > [!TIP]
 > **Optional dependencies**
 >
-> For CVXPYGen code generation:
+> Plotting (Plotly, Matplotlib, and Viser) and CVXPYGen code generation:
 > ```bash
-> pip install openscvx[cvxpygen]
+> pip install "openscvx[plotting]"
+> pip install "openscvx[cvxpygen]"
 > ```
 
 > [!TIP]
@@ -174,7 +175,7 @@ Check out the OpenSCvx documentation:
 We also have a selection of problems in the `examples/` folder as well as on the [Examples page](https://openscvx.github.io/OpenSCvx/latest/Examples/abstract/brachistochrone/) of the documentation. The example trajectory optimization problems are grouped by application and represent some of the problem types that can be solved by OpenSCvx.
 
 > [!Note]
-> To run the examples, you'll need to clone this repository and install OpenSCvx in editable mode (`pip install -e .`). See the [Installing From Source](#installing-from-source) section above for detailed installation instructions.
+> To run the examples, you'll need to clone this repository and install OpenSCvx in editable mode with the plotting extra (`pip install -e ".[plotting]"`). See the [Installing From Source](#installing-from-source) section above for detailed installation instructions.
 
 To run a problem simply run any of the examples directly, for example:
 
@@ -213,7 +214,7 @@ OpenSCvx integrates with several optional third-party packages. Each installs as
 | [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) |
+| [moreau](https://pypi.org/project/moreau/) | `moreau` | Open Source SOCP solver backend | [![moreau](https://github.com/OpenSCvx/OpenSCvx/actions/workflows/tests-moreau.yml/badge.svg?branch=main)](https://github.com/OpenSCvx/OpenSCvx/actions/workflows/tests-moreau.yml) |
 | [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) |
 
@@ -228,7 +229,7 @@ This work was supported by a NASA Space Technology Graduate Research Opportunity
 Please cite the following works if you use the repository,
 
 ```tex
-@misc{hayner2026openscvxopensourcemodularextensible,
+@misc{hayner2026openscvx,
       title={OpenSCvx: An Open-Source Modular and Extensible Nonlinear Trajectory Planning Package}, 
       author={Christopher R. Hayner and Griffin J. Norris and Fabio Spada and Samet Uzun and Avi Mittal and Behcet Acıkmese and Karen Leung},
       year={2026},
@@ -268,4 +269,4 @@ keywords = {Trajectory optimization, Optimal control, Continuous-time constraint
 }
 ```
 
-Additionally please run `problem.citation()` to generate the appropriate bibtex citations for the corresponding components used within your problem.
+Additionally please run `problem.citation()` after `problem.intitialize()` to generate the appropriate bibtex citations for the corresponding components used within your problem.

{openscvx-0.5.3.dev56 → openscvx-0.5.3.dev58}/docs/UnderTheHood/custom_algorithms_autotuners.md

@@ -120,6 +120,11 @@ To add columns to the iteration table, set the class attribute `COLUMNS` to a
 list of `openscvx.utils.printing.Column` specs; the algorithm concatenates
 them into its own table via `get_columns`.
 
+If the update rule comes from a published scheme, override `citation()` to
+return its BibTeX entries — `Problem.citation()` prints them in a dedicated
+autotuner section. The default is an empty list, right for unpublished
+heuristics.
+
 ## A custom algorithm
 
 An `Algorithm` owns the SCP iteration end to end: it *builds* the JAX-pure

{openscvx-0.5.3.dev56 → openscvx-0.5.3.dev58}/docs/UsersGuide/01_hello_world_brachistochrone.md

@@ -316,7 +316,7 @@ theta_traj = results.trajectory["theta"]
 
 ### Visualizing the Results
 
-OpenSCvx provides built-in plotting utilities for quick visualization of your results. The simplest way to see your solution is with `plot_states()` and `plot_controls()`:
+OpenSCvx provides plotting utilities for quick visualization of your results. Install them with `pip install "openscvx[plotting]"`. The simplest way to see your solution is with `plot_states()` and `plot_controls()`:
 
 ```python
 from openscvx.plotting import plot_states, plot_controls

{openscvx-0.5.3.dev56 → openscvx-0.5.3.dev58}/docs/UsersGuide/05_visualization.md

@@ -22,7 +22,11 @@ This tutorial covers:
 
 ## 2D Plots with Plotly
 
-The `openscvx.plotting` module provides high-level functions for common visualization tasks. These work with any problem and require no additional setup.
+The `openscvx.plotting` module provides high-level functions for common visualization tasks. These work with any problem once the plotting extra is installed:
+
+```sh
+pip install "openscvx[plotting]"
+```
 
 ### Time Series: States and Controls
 

{openscvx-0.5.3.dev56 → openscvx-0.5.3.dev58}/docs/installation.md

@@ -9,8 +9,8 @@ description: >-
 
 OpenSCvx is published on PyPI as [`openscvx`](https://pypi.org/project/openscvx/)
 and requires **Python 3.11 or newer**. Its core depends on JAX and CVXPY; the
-optional extras below pull in additional solvers, dynamics backends, and modeling
-features only when you need them.
+optional extras below pull in plotting, additional solvers, dynamics backends,
+and modeling features only when you need them.
 
 ## How to install OpenSCvx
 
@@ -19,8 +19,8 @@ features only when you need them.
     ```sh
     uv pip install openscvx
 
-    # Optional: cvxpygen, stljax, jaxlie, mujoco-mjx extras
-    uv pip install "openscvx[cvxpygen,stl,lie,mjx]"
+    # Optional: plotting, cvxpygen, stljax, jaxlie, mujoco-mjx extras
+    uv pip install "openscvx[plotting,cvxpygen,stl,lie,mjx]"
     ```
 
 === "pip"
@@ -28,8 +28,8 @@ features only when you need them.
     ```sh
     pip install openscvx
 
-    # Optional: cvxpygen, stljax, jaxlie, mujoco-mjx extras
-    pip install "openscvx[cvxpygen,stl,lie,mjx]"
+    # Optional: plotting, cvxpygen, stljax, jaxlie, mujoco-mjx extras
+    pip install "openscvx[plotting,cvxpygen,stl,lie,mjx]"
     ```
 
 === "From source (editable)"
@@ -39,12 +39,13 @@ features only when you need them.
     cd OpenSCvx
     uv pip install -e .
 
-    # Optional: cvxpygen, stljax, jaxlie, mujoco-mjx extras
-    uv pip install -e ".[cvxpygen,stl,lie,mjx]"
+    # Optional: plotting, cvxpygen, stljax, jaxlie, mujoco-mjx extras
+    uv pip install -e ".[plotting,cvxpygen,stl,lie,mjx]"
     ```
 
-Install from source if you want to run the [examples](examples.md), modify the
-library, or track the development branch.
+Install from source if you want to modify the library or track the development
+branch. Running the [examples](examples.md) needs the `plotting` extra as well,
+because those scripts import Plotly and Viser at startup.
 
 ## Optional extras
 
@@ -52,9 +53,10 @@ Extras are installed with the `openscvx[extra1,extra2]` syntax shown above.
 
 | Extra | Enables |
 |-------|---------|
+| `plotting` | 2D plots and 3D scenes (`matplotlib`, `plotly`, `viser`). |
 | `cvxpygen` | Generated C solvers via `cvxpygen` + `qocogen`. |
 | `qpax` | The `qpax` differentiable QP backend. |
-| `moreau` | The licensed `moreau` conic solver. |
+| `moreau` | The `moreau` conic solver backend. |
 | `stl` | Signal Temporal Logic constraints via `stljax`. |
 | `lie` | Lie-group operators via `jaxlie`. |
 | `mjx` | MuJoCo MJX dynamics (`mujoco`, `mujoco-mjx`). |

{openscvx-0.5.3.dev56 → openscvx-0.5.3.dev58}/examples/animations/_sensor_view.py

@@ -6,7 +6,8 @@ frame-perfectly aligned with the viser recording and can be composited with
 ffmpeg afterwards.
 
 Uses matplotlib's Agg canvas rather than plotly + kaleido so there's no
-headless-Chrome dependency — matplotlib is already a project dep. Raw RGB
+headless-Chrome dependency. Matplotlib comes with the plotting extra
+(``pip install 'openscvx[plotting]'``). Raw RGB
 frames are piped straight into ``ffmpeg -f rawvideo`` (same pattern as
 ``_render.py``), so there's no intermediate PNGs and no Python-side decode.
 """

{openscvx-0.5.3.dev56 → openscvx-0.5.3.dev58}/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.dev56'
-__version_tuple__ = version_tuple = (0, 5, 3, 'dev56')
+__version__ = version = '0.5.3.dev58'
+__version_tuple__ = version_tuple = (0, 5, 3, 'dev58')
 
-__commit_id__ = commit_id = 'g96d2204af'
+__commit_id__ = commit_id = 'gb7be593bb'

{openscvx-0.5.3.dev56 → openscvx-0.5.3.dev58}/openscvx/algorithms/autotuner/acceptance_ratio.py

@@ -88,6 +88,29 @@ class AcceptanceRatioAutotuner(AutotuningBase):
         Column("adaptive_state", "Adaptive", 16, "{}", color_adaptive_state, Verbosity.FULL),
     ]
 
+    def citation(self) -> List[str]:
+        """Return BibTeX citations for the SCvx acceptance-ratio update rule."""
+        return [
+            r"""@inproceedings{mao2016scvx,
+  title={Successive convexification of non-convex optimal control problems and its
+    convergence properties},
+  author={Mao, Yuanqi and Szmuk, Michael and A{\c{c}}{\i}kme{\c{s}}e, Beh{\c{c}}et},
+  booktitle={2016 IEEE 55th Conference on Decision and Control (CDC)},
+  pages={3636--3641},
+  year={2016},
+  publisher={IEEE}
+}""",
+            r"""@misc{mao2019scvx,
+  title={Successive Convexification: A Superlinearly Convergent Algorithm for
+    Non-convex Optimal Control Problems},
+  author={Mao, Yuanqi and Szmuk, Michael and Xu, Xiangru and A{\c{c}}{\i}kme{\c{s}}e, Beh{\c{c}}et},
+  year={2019},
+  eprint={1804.06539},
+  archivePrefix={arXiv},
+  primaryClass={math.OC}
+}""",
+        ]
+
     def _update_multipliers(
         self,
         state: "AlgorithmState",

{openscvx-0.5.3.dev56 → openscvx-0.5.3.dev58}/openscvx/algorithms/autotuner/augmented_lagrangian.py

@@ -6,7 +6,7 @@ SCP loop records history outside this module.
 """
 
 import warnings
-from typing import TYPE_CHECKING, Literal
+from typing import TYPE_CHECKING, List, Literal
 
 import jax.numpy as jnp
 from pydantic import BaseModel, ConfigDict
@@ -256,6 +256,24 @@ class AugmentedLagrangian(AcceptanceRatioAutotuner):
         # :py:meth:`_update_virtual_buffer_nodal_weights`.
         return jnp.minimum(state.hyper.lam_vc_max, lam_vb_new)
 
+    def citation(self) -> List[str]:
+        """Return BibTeX citations for the augmented-Lagrangian multiplier updates.
+
+        Extends the inherited SCvx acceptance-ratio references with Luo's
+        dissertation, whose penalty-weight updates this autotuner implements.
+        """
+        return super().citation() + [
+            r"""@phdthesis{luo2025modeling,
+  title={Modeling and Algorithms for Nonconvex Trajectory Generation Problems:
+    From Constraint Reformulations and First-Order Proximal Methods to
+    Structure-Exploiting Convex Solvers},
+  author={Luo, Dayou},
+  school={University of Washington},
+  year={2025},
+  url={https://hdl.handle.net/1773/53364}
+}"""
+        ]
+
 
 # =============================================================================
 # Pydantic spec for dict / YAML validation

{openscvx-0.5.3.dev56 → openscvx-0.5.3.dev58}/openscvx/algorithms/autotuner/base.py

@@ -257,3 +257,16 @@ class AutotuningBase(ABC):
             the autotuner's decision; the SCP loop records that into history
             and maps it to a printable label.
         """
+
+    def citation(self) -> List[str]:
+        """Return BibTeX citations for the published update rule this autotuner implements.
+
+        Autotuners implementing a published scheme override this so that
+        :meth:`openscvx.Problem.citation` can credit it alongside the
+        algorithm, solver, and discretization references. Unpublished
+        heuristics keep the default.
+
+        Returns:
+            List of BibTeX citation strings. Empty for uncited autotuners.
+        """
+        return []

{openscvx-0.5.3.dev56 → openscvx-0.5.3.dev58}/openscvx/loader.py

@@ -89,7 +89,7 @@ def load_yaml(path: Union[str, Path]) -> dict:
     Returns:
         Dict of keyword arguments suitable for ``Problem(**result)``.
     """
-    import yaml  # optional dependency
+    import yaml
 
     with open(path) as f:
         data = yaml.safe_load(f)

{openscvx-0.5.3.dev56 → openscvx-0.5.3.dev58}/openscvx/plotting/__init__.py

@@ -1,5 +1,9 @@
 """Trajectory visualization and plotting utilities.
 
+Requires the plotting extra::
+
+    pip install 'openscvx[plotting]'
+
 This module provides reusable building blocks for visualizing trajectory
 optimization results. It is intentionally minimal - we provide common utilities
 that can be composed together, not a complete solution that tries to do
@@ -41,27 +45,10 @@ For problem-specific visualization examples (drones, rockets, etc.), see
 ``examples/plotting_viser.py``.
 """
 
-try:
-    from . import viser
-except ModuleNotFoundError as e:
-    # Make viser an optional dependency so 2D plotting works without it.
-    # Accessing openscvx.plotting.viser will raise a helpful error message.
-    class _MissingOptionalDependency:
-        def __init__(self, *, package: str, exc: Exception):
-            self._package = package
-            self._exc = exc
-
-        def __getattr__(self, name: str):
-            raise ModuleNotFoundError(
-                f"Optional dependency '{self._package}' is required for 3D visualization.\n"
-                f"Install it with: pip install {self._package}\n"
-                f"Original error: {self._exc}"
-            ) from self._exc
-
-        def __repr__(self) -> str:  # pragma: no cover
-            return f"<missing optional dependency '{self._package}'>"
-
-    viser = _MissingOptionalDependency(package="viser", exc=e)  # type: ignore[assignment]
+from . import (
+    _deps,  # noqa: F401  # raises if the plotting extra is missing
+    viser,
+)
 from .plotting import (
     plot_control_component,
     plot_controls,

openscvx-0.5.3.dev58/openscvx/plotting/_deps.py

@@ -0,0 +1,18 @@
+"""Fail fast when the plotting extra is not installed.
+
+Imported by :mod:`openscvx.plotting` before Plotly, Matplotlib, or Viser.
+``import openscvx`` does not import this module, so solving a problem does not
+require the plotting stack.
+"""
+
+from importlib.util import find_spec
+
+_REQUIRED = ("matplotlib", "plotly", "viser")
+
+_missing = [name for name in _REQUIRED if find_spec(name) is None]
+if _missing:
+    missing = ", ".join(_missing)
+    raise ImportError(
+        "openscvx.plotting requires the optional plotting extra "
+        f"(missing {missing}). Install it with: pip install 'openscvx[plotting]'"
+    )

{openscvx-0.5.3.dev56 → openscvx-0.5.3.dev58}/openscvx/problem.py

@@ -2299,9 +2299,11 @@ class Problem:
     def citation(self) -> str:
         """Return BibTeX citations for all components used in this problem.
 
-        Aggregates citations from the algorithm and other components (discretization,
-        convex solver, etc.) Each section is prefixed with a comment indicating which component the
-        citation is for.
+        Aggregates citations from the algorithm, its autotuner, the convex
+        solver, the discretization, and every symbolic node in the problem's
+        expression graphs (e.g. GMSR STL operators, jaxlie-backed Lie-group
+        maps). Each section is prefixed with a comment indicating which
+        component the citation is for.
 
         Returns:
             Formatted string containing all BibTeX citations with comments.
@@ -2324,6 +2326,14 @@ class Problem:
             citations = "\n".join(algo_citations)
             sections.append(f"{header}\n\n{citations}")
 
+        # Autotuner citations
+        tuner_citations = self._algorithm.autotuner.citation()
+        if tuner_citations:
+            tuner_name = type(self._algorithm.autotuner).__name__
+            header = f"% Autotuner: {tuner_name}"
+            citations = "\n".join(tuner_citations)
+            sections.append(f"{header}\n\n{citations}")
+
         # Solver citations
         solver_citations = self._solver.citation()
         if solver_citations:
@@ -2340,6 +2350,21 @@ class Problem:
             citations = "\n".join(dis_citations)
             sections.append(f"{header}\n\n{citations}")
 
+        # Symbolic-node citations, gathered by walking the expression graphs.
+        # Distinct node classes can share a reference (every GMSR operator
+        # cites the same paper), so entries are deduplicated across classes.
+        node_citations = self.symbolic.citations()
+        if node_citations:
+            names = ", ".join(sorted(node_citations))
+            header = f"% Symbolic Operators: {names}"
+            entries: list[str] = []
+            for name in sorted(node_citations):
+                for entry in node_citations[name]:
+                    if entry not in entries:
+                        entries.append(entry)
+            citations = "\n".join(entries)
+            sections.append(f"{header}\n\n{citations}")
+
         sections.append(r"% --- END AUTO-GENERATED CITATIONS")
 
         return "\n\n".join(sections)