openscvx 0.5.3.dev59__tar.gz → 0.5.3.dev61__tar.gz

{openscvx-0.5.3.dev59 → openscvx-0.5.3.dev61}/.github/workflows/tests-examples.yml

@@ -39,9 +39,7 @@ 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: 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]"
+        uv pip install --system -e ".[test,plotting,mjx,lie,frax,stl,moreau]"
 
     - name: Run examples sweep
       run: |

{openscvx-0.5.3.dev59 → openscvx-0.5.3.dev61}/.github/workflows/tests-moreau.yml

@@ -2,8 +2,8 @@ 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.
+# The PR extras job and the examples sweep also install moreau; this workflow
+# is the dedicated badge and the weekly upstream check.
 
 on:
   push:

{openscvx-0.5.3.dev59 → openscvx-0.5.3.dev61}/.github/workflows/tests.yml

@@ -123,9 +123,7 @@ 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]"
+        uv pip install --system -e ".[test,mjx,lie,moreau]"
 
     - name: Run extras tests
       run: |

{openscvx-0.5.3.dev59/openscvx.egg-info → openscvx-0.5.3.dev61}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.5.3.dev59
+Version: 0.5.3.dev61
 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.dev59 → openscvx-0.5.3.dev61}/examples/arm/7_dof_arm.py

@@ -268,7 +268,7 @@ problem = ox.Problem(
     time=time,
     constraints=constraints,
     N=n,
-    algorithm={"lam_vb": 1e1, "lam_vc": 1e2, "autotuner": ox.AugmentedLagrangian(eta_lambda=1e0)},
+    algorithm={"lam_vb": 1e1, "lam_vc": 1e2},
     algebraic_prop={
         "ee_position": p_ee,
         **{f"T_{name}": T for name, T in joint_transforms.items()},

{openscvx-0.5.3.dev59 → openscvx-0.5.3.dev61}/examples/car/dubins_car_waypoint_stl.py

@@ -133,6 +133,7 @@ problem = Problem(
         "lam_prox": 6e-3,
         "lam_vc": 1e1,
         "lam_cost": 1e-3,
+        "ep_tr": 2.5e-4,
     },
     float_dtype="float64",
     licq_max=1e-10,

{openscvx-0.5.3.dev59 → openscvx-0.5.3.dev61}/examples/drone/_plotting.py

@@ -8,7 +8,7 @@ import viser
 from scipy.interpolate import CubicSpline, PchipInterpolator
 
 from examples.drone._terrain import heightfield_mesh
-from examples.drone.logo_utils.quadrotor_mesh import make_quadrotor_mesh
+from examples.drone.logo_utils._quadrotor_mesh import make_quadrotor_mesh
 from openscvx.algorithms import OptimizationResults
 from openscvx.plotting.viser import compute_velocity_colors, create_server
 from openscvx.plotting.viser.animated import add_animated_trail, add_animation_controls

{openscvx-0.5.3.dev59 → openscvx-0.5.3.dev61}/examples/drone/boresight_trace_mpcc.py

@@ -35,7 +35,7 @@ grandparent_dir = os.path.dirname(os.path.dirname(current_dir))
 sys.path.append(grandparent_dir)
 
 import openscvx as ox
-from examples.drone.logo_utils.svg_path_utils import extract_svg_arc_length_path
+from examples.drone.logo_utils._svg_path_utils import extract_svg_arc_length_path
 from openscvx import Problem
 
 ###############################################################################
@@ -517,7 +517,7 @@ if __name__ == "__main__":
     deviation_figure(progress_dense, trace_err).show()
 
     # --- Visualization ---
-    from examples.drone.logo_utils.quadrotor_mesh import make_quadrotor_mesh
+    from examples.drone.logo_utils._quadrotor_mesh import make_quadrotor_mesh
     from openscvx.plotting.viser import add_animation_controls, create_server
 
     server = create_server(positions)

{openscvx-0.5.3.dev59 → openscvx-0.5.3.dev61}/examples/drone/logo.py

@@ -30,7 +30,7 @@ except ImportError:
     print("svgpathtools not found. Please install it with: pip install svgpathtools")
     sys.exit(1)
 
-from examples.drone.logo_utils.svg_path_utils import get_svg_path_function
+from examples.drone.logo_utils._svg_path_utils import get_svg_path_function
 
 # -----------------------------------------------------------------------------
 # SVG path utilities

{openscvx-0.5.3.dev59 → openscvx-0.5.3.dev61}/examples/drone/maze_scp.py

@@ -52,7 +52,7 @@ from examples._maze_viz import (
     uniform_segment_colors,
 )
 from examples.animations._camera import chase_pose, look_at_wxyz
-from examples.drone.logo_utils.quadrotor_mesh import make_quadrotor_mesh
+from examples.drone.logo_utils._quadrotor_mesh import make_quadrotor_mesh
 from openscvx import Problem
 from openscvx.plotting.viser import compute_velocity_colors
 from openscvx.plotting.viser.animated import (

{openscvx-0.5.3.dev59 → openscvx-0.5.3.dev61}/examples/drone/openscvx_logo.py

@@ -34,8 +34,8 @@ except ImportError:
     print("svgpathtools not found. Please install it with: pip install svgpathtools")
     sys.exit(1)
 
-from examples.drone.logo_utils.quadrotor_mesh import make_quadrotor_mesh
-from examples.drone.logo_utils.svg_path_utils import get_svg_path_function
+from examples.drone.logo_utils._quadrotor_mesh import make_quadrotor_mesh
+from examples.drone.logo_utils._svg_path_utils import get_svg_path_function
 
 # -----------------------------------------------------------------------------
 # SVG path utilities

{openscvx-0.5.3.dev59 → openscvx-0.5.3.dev61}/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.dev59'
-__version_tuple__ = version_tuple = (0, 5, 3, 'dev59')
+__version__ = version = '0.5.3.dev61'
+__version_tuple__ = version_tuple = (0, 5, 3, 'dev61')
 
-__commit_id__ = commit_id = 'g939c7d7fa'
+__commit_id__ = commit_id = 'g515efdb6d'

{openscvx-0.5.3.dev59 → openscvx-0.5.3.dev61/openscvx.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.5.3.dev59
+Version: 0.5.3.dev61
 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.dev59 → openscvx-0.5.3.dev61}/openscvx.egg-info/SOURCES.txt

@@ -117,7 +117,6 @@ examples/double_integrator/_plotting.py
 examples/double_integrator/double_integrator_static.py
 examples/double_integrator/maze_rrt_scp.py
 examples/double_integrator/moving_safe_zones.py
-examples/double_integrator/multiphase_velocity.py
 examples/double_integrator/obstacle_avoidance_vmap.py
 examples/double_integrator/obstacle_avoidance_vmap_2d.py
 examples/drone/_plotting.py
@@ -139,11 +138,11 @@ examples/drone/obstacle_avoidance_nodal.py
 examples/drone/openscvx_logo.py
 examples/drone/quadrotor_hector.py
 examples/drone/quadrotor_zigzag.py
+examples/drone/logo_utils/_quadrotor_mesh.py
+examples/drone/logo_utils/_svg_path_utils.py
 examples/drone/logo_utils/acl_logo.svg
 examples/drone/logo_utils/circle.svg
 examples/drone/logo_utils/openscvx_logo_single.svg
-examples/drone/logo_utils/quadrotor_mesh.py
-examples/drone/logo_utils/svg_path_utils.py
 examples/frax/panda_frax.py
 examples/frax/panda_frax_pick_place.py
 examples/frax/panda_frax_viewplanning.py
@@ -200,7 +199,6 @@ examples/rocket/senss/senss_dem.png
 examples/rocket/senss/_halo/__init__.py
 examples/rocket/senss/_halo/dem.py
 examples/rocket/senss/_halo/lidar.py
-examples/scaling/scaling_study.py
 examples/spacecraft/dual_deputy_inspection_cw.py
 examples/spacecraft/halo_orbit.py
 examples/spacecraft/hohmann_transfer.py

{openscvx-0.5.3.dev59 → openscvx-0.5.3.dev61}/openscvx.egg-info/scm_file_list.json

@@ -115,7 +115,6 @@
     "examples/double_integrator/double_integrator_static.py",
     "examples/double_integrator/maze_rrt_scp.py",
     "examples/double_integrator/moving_safe_zones.py",
-    "examples/double_integrator/multiphase_velocity.py",
     "examples/double_integrator/obstacle_avoidance_vmap.py",
     "examples/double_integrator/obstacle_avoidance_vmap_2d.py",
     "examples/drone/_plotting.py",
@@ -129,11 +128,11 @@
     "examples/drone/drone_racing.py",
     "examples/drone/drone_racing_batched_gates.py",
     "examples/drone/logo.py",
+    "examples/drone/logo_utils/_quadrotor_mesh.py",
+    "examples/drone/logo_utils/_svg_path_utils.py",
     "examples/drone/logo_utils/acl_logo.svg",
     "examples/drone/logo_utils/circle.svg",
     "examples/drone/logo_utils/openscvx_logo_single.svg",
-    "examples/drone/logo_utils/quadrotor_mesh.py",
-    "examples/drone/logo_utils/svg_path_utils.py",
     "examples/drone/lunar_terrain_agl.py",
     "examples/drone/maze_scp.py",
     "examples/drone/moving_safe_columns.py",
@@ -200,7 +199,6 @@
     "examples/rocket/senss/_halo/lidar.py",
     "examples/rocket/senss/_hop_lidar_overlay.py",
     "examples/rocket/senss/senss_dem.png",
-    "examples/scaling/scaling_study.py",
     "examples/spacecraft/capstone/capstone.bin",
     "examples/spacecraft/capstone/capstone.gltf",
     "examples/spacecraft/capstone/capstone_albedo.jpg",

openscvx-0.5.3.dev61/openscvx.egg-info/scm_version.json

@@ -0,0 +1,8 @@
+{
+  "tag": "0.5.2",
+  "distance": 61,
+  "node": "g515efdb6db4421e15be23b2bf74e1a42b4f6ea3e",
+  "dirty": false,
+  "branch": "main",
+  "node_date": "2026-11-08"
+}

{openscvx-0.5.3.dev59 → openscvx-0.5.3.dev61}/tests/test_autotuning.py

@@ -365,7 +365,9 @@ def test_calculate_cost_from_state_scalar_lam_cost_matches_default(settings):
     cost_default = calculate_cost_from_state(x, settings)
     cost_scalar = calculate_cost_from_state(x, settings, lam_cost=1.0)
 
-    assert cost_scalar == pytest.approx(cost_default, rel=1e-6)
+    # Both results are 0-d JAX arrays. Compare them as Python floats so the
+    # check does not depend on pytest.approx reading ``.flat``.
+    assert float(cost_scalar) == pytest.approx(float(cost_default), rel=1e-6)
 
 
 # --- Tests for calculate_nonlinear_penalty ----------------------------------

{openscvx-0.5.3.dev59 → openscvx-0.5.3.dev61}/tests/test_examples.py

@@ -31,10 +31,10 @@ EXCLUDED_EXAMPLES = {
     "drone/logo.py",
     "drone/openscvx_logo.py",
     "drone/boresight_trace_mpcc.py",
+    "drone/boresight_trace_mpcc.py",
     "double_integrator/obstacle_avoidance_vmap.py",
     "mjx/triple_cartpole_game.py",
     "car/racing/race_car_multi_agent_mpcc_ice.py",
-    "car/racing/race_car_multi_agent_mpcc.py",
     "rocket/ascent_launch_vehicle.py",
     "rocket/senss/*.py",
 }

{openscvx-0.5.3.dev59 → openscvx-0.5.3.dev61}/tests/test_optimization_results.py

@@ -84,8 +84,9 @@ def test_save_load_roundtrip_minimal(tmp_path):
 
     assert len(loaded.discretization_history) == len(original.discretization_history)
 
-    # Float lists
-    assert loaded.lam_prox_history == pytest.approx(original.lam_prox_history)
+    # Scalar arrays stored in an array-list. pytest.approx rejects a list of
+    # ndarrays, so compare the numeric values directly.
+    np.testing.assert_allclose(loaded.lam_prox_history, original.lam_prox_history)
     assert loaded.actual_reduction_history == pytest.approx(original.actual_reduction_history)
     assert loaded.pred_reduction_history == pytest.approx(original.pred_reduction_history)
     assert loaded.acceptance_ratio_history == pytest.approx(original.acceptance_ratio_history)

openscvx-0.5.3.dev59/examples/double_integrator/multiphase_velocity.py

@@ -1,155 +0,0 @@
-"""1D double integrator with a multiphase velocity constraint (OpenSCvx port).
-
-Port of the acados multiphase OCP example ``export_double_integrator_model`` /
-``create_mocp`` (acados_template). The horizon is split into two phases:
-
-- Phase 0 (nodes 0–10): velocity is unconstrained.
-- Phase 1 (nodes 10–20): velocity must be nonpositive (``v <= 0``).
-
-The vehicle starts at ``q = 1``, ``v = 0.25`` with fixed duration ``T_f = 1`` s,
-minimizes a quadratic stage cost ``q^2 + 10 v^2 + 10 u^2``, and has
-``|u| <= 1``.
-
-Set ``SOFTEN_V = True`` to relax the phase-1 velocity cap with a CTCS soft
-penalty (analogous to acados ``soften_h=True``).
-"""
-
-import os
-import sys
-
-import numpy as np
-
-current_dir = os.path.dirname(os.path.abspath(__file__))
-project_root = os.path.dirname(os.path.dirname(current_dir))
-if project_root not in sys.path:
-    sys.path.append(project_root)
-
-import openscvx as ox
-from openscvx import Problem
-from openscvx.plotting import plot_controls, plot_states
-
-# ── Problem parameters (match acados create_mocp defaults) ───────────────────
-N = 21  # nodes (acados uses N_horizon = 20 intervals)
-TF = 1.0
-
-Q_Q = 1.0
-Q_V = 10.0
-R_U = 10.0
-F_MAX = 1.0
-
-# Phase split: N_list = [10, 10] → phase 1 starts at node 10
-PHASE1_START = 10
-
-# Optional soft velocity cap in phase 1 (acados soften_h)
-SOFTEN_V = False
-
-# ── States ───────────────────────────────────────────────────────────────────
-position = ox.State("position", shape=(1,))
-position.min = np.array([-10.0])
-position.max = np.array([10.0])
-position.initial = np.array([1.0])
-position.final = [ox.Free(0.0)]
-
-velocity = ox.State("velocity", shape=(1,))
-velocity.min = np.array([-10.0])
-velocity.max = np.array([10.0])
-velocity.initial = np.array([0.25])
-velocity.final = [ox.Free(0.0)]
-
-stage_cost = ox.State("stage_cost", shape=(1,))
-stage_cost.min = np.array([0.0])
-stage_cost.max = np.array([1e3])
-stage_cost.initial = np.array([0.0])
-stage_cost.final = [ox.Minimize(0.0)]
-
-# ── Control ──────────────────────────────────────────────────────────────────
-force = ox.Control("force", shape=(1,), parameterization="ZOH")
-force.min = np.array([-F_MAX])
-force.max = np.array([F_MAX])
-force.guess = np.linspace(-0.5, -0.5, N).reshape(-1, 1)
-
-states = [position, velocity, stage_cost]
-controls = [force]
-
-# ── Dynamics: continuous double integrator ───────────────────────────────────
-dynamics = {
-    "position": velocity[0],
-    "velocity": force[0],
-    "stage_cost": Q_Q * position[0] ** 2 + Q_V * velocity[0] ** 2 + R_U * force[0] ** 2,
-}
-
-# ── Constraints ──────────────────────────────────────────────────────────────
-constraints: list = []
-for state in states:
-    constraints.extend([ox.ctcs(state <= state.max), ox.ctcs(state.min <= state)])
-constraints.extend([ox.ctcs(force <= force.max), ox.ctcs(force.min <= force)])
-
-# Phase 1 only: velocity must be nonpositive (acados con_h_expr = x[nq:], ub = 0).
-# Nodal convex constraint matches acados pathwise enforcement at discrete nodes.
-if SOFTEN_V:
-    constraints.append(
-        ox.ctcs(velocity[0] <= 0.0, penalty="smooth_relu").over((PHASE1_START, N - 1))
-    )
-else:
-    constraints.append((velocity[0] <= 0.0).convex().at(list(range(PHASE1_START, N))))
-
-# ── Initial guess ────────────────────────────────────────────────────────────
-t_guess = np.linspace(0.0, TF, N)
-velocity.guess = np.linspace(0.25, -0.1, N).reshape(-1, 1)
-position.guess = np.column_stack(
-    [position.initial[0] + np.cumsum(velocity.guess[:, 0] * np.gradient(t_guess))]
-)
-stage_cost.guess = np.cumsum(
-    (
-        Q_Q * position.guess[:, 0] ** 2
-        + Q_V * velocity.guess[:, 0] ** 2
-        + R_U * force.guess[:, 0] ** 2
-    )
-    * np.gradient(t_guess)
-).reshape(-1, 1)
-
-time = ox.Time(
-    initial=0.0,
-    final=TF,
-    min=0.0,
-    max=TF,
-    uniform_time_grid=True,
-)
-
-problem = Problem(
-    dynamics=dynamics,
-    states=states,
-    controls=controls,
-    time=time,
-    constraints=constraints,
-    N=N,
-    float_dtype="float64",
-    algorithm={
-        "lam_cost": 6e-1,
-        # "autotuner": ox.ConstantProximalWeight(),
-    },
-    solver={"cvx_solver": "qocogen", "cvxpygen": True, "solver_args": {}},
-)
-
-plotting_dict = {
-    "phase1_start": PHASE1_START,
-    "tf": TF,
-}
-
-
-if __name__ == "__main__":
-    problem.initialize()
-    results = problem.solve()
-    results = problem.post_process()
-    results.update(plotting_dict)
-
-    nodes = results.nodes
-    print(f"Final position: {nodes['position'][-1, 0]:.4f}")
-    print(f"Final velocity: {nodes['velocity'][-1, 0]:.4f}")
-    print(f"Integrated stage cost: {nodes['stage_cost'][-1, 0]:.4f}")
-
-    phase1_v = nodes["velocity"][PHASE1_START:, 0]
-    print(f"Phase-1 velocity max: {phase1_v.max():.4e} (should be <= 0, soften={SOFTEN_V})")
-
-    plot_states(results).show()
-    plot_controls(results).show()