API reference¶

This section documents OpenSCvx from live Python sources via mkdocstrings. Use the left navigation to open any module, or jump into a core module or subpackage below.

Core modules¶

openscvx.problem — Define dynamics, costs, constraints, and assemble an optimization problem.
openscvx.config — Configuration objects for runs and solver integrations.
openscvx.loader — Load problems from YAML and serialized specs.

Subpackages¶

openscvx.algorithms — SCP drivers, trust-region and augmented-Lagrangian style iteration.
openscvx.discretization — Time grids, collocation, and problem discretization.
openscvx.expert — BYOF-style expert hooks: specs, lowering helpers, validation.
openscvx.init — Initial trajectory guesses: keyframes, interpolation, warm starts.
openscvx.integrations — MuJoCo MJX and related dynamics adapters.
openscvx.integrators — Numerical integration for continuous-time dynamics.
openscvx.lowered — Lowered / canonical constraint and cost representations.
openscvx.plotting — Figures, diagnostics, and optional Viser visualization.
openscvx.propagation — Trajectory rollout and segment propagation utilities.
openscvx.solvers — Convex subsolvers and interfaces to external QP/LP backends.
openscvx.symbolic — Symbolic expressions, constraints, STL, Lie groups, and lowering to JAX/CVXPY.
openscvx.utils — Shared helpers used across the library.

Every page under Reference corresponds to a Python module under openscvx/. Internal APIs prefixed with _ are omitted from this reference.