vincekurtz
diff --git a/‎docs/source/benchmarks.rst
+13-13 b/‎docs/source/benchmarks.rst
+13-13
diff --git a/‎docs/source/conf.py
+3-3 b/‎docs/source/conf.py
+3-3
diff --git a/‎docs/source/getting_started.rst
+5-5 b/‎docs/source/getting_started.rst
+5-5
diff --git a/‎docs/source/index.rst
+2-2 b/‎docs/source/index.rst
+2-2
diff --git a/‎docs/source/overview.rst
+1-1 b/‎docs/source/overview.rst
+1-1
diff --git a/‎docs/source/solvers.rst
+6-6 b/‎docs/source/solvers.rst
+6-6
diff --git a/‎docs/source/stl.rst
+3-3 b/‎docs/source/stl.rst
+3-3
diff --git a/‎docs/source/systems.rst
+4-4 b/‎docs/source/systems.rst
+4-4
diff --git a/‎examples/door_puzzle.py
+2-2 b/‎examples/door_puzzle.py
+2-2
diff --git a/‎examples/either_or.py
+3-3 b/‎examples/either_or.py
+3-3
diff --git a/‎examples/multitarget.py
+2-2 b/‎examples/multitarget.py
+2-2
diff --git a/‎examples/narrow_passage.py
+4-4 b/‎examples/narrow_passage.py
+4-4
diff --git a/‎examples/nonlinear_reach_avoid.py
+2-2 b/‎examples/nonlinear_reach_avoid.py
+2-2
diff --git a/‎examples/reach_avoid.py
+2-2 b/‎examples/reach_avoid.py
+2-2
diff --git a/‎examples/stepping_stones.py
+2-2 b/‎examples/stepping_stones.py
+2-2
diff --git a/‎examples/towers_of_hanoi.py
+3-3 b/‎examples/towers_of_hanoi.py
+3-3
diff --git a/‎setup.py
+3-3 b/‎setup.py
+3-3
diff --git a/‎pySTL/STL/__init__.py renamed to ‎stlpy/STL/__init__.py b/‎pySTL/STL/__init__.py renamed to ‎stlpy/STL/__init__.py
diff --git a/‎pySTL/STL/formula.py renamed to ‎stlpy/STL/formula.py b/‎pySTL/STL/formula.py renamed to ‎stlpy/STL/formula.py
diff --git a/‎pySTL/STL/predicate.py renamed to ‎stlpy/STL/predicate.py b/‎pySTL/STL/predicate.py renamed to ‎stlpy/STL/predicate.py
diff --git a/‎pySTL/__init__.py renamed to ‎stlpy/__init__.py b/‎pySTL/__init__.py renamed to ‎stlpy/__init__.py
diff --git a/‎pySTL/benchmarks/__init__.py renamed to ‎stlpy/benchmarks/__init__.py b/‎pySTL/benchmarks/__init__.py renamed to ‎stlpy/benchmarks/__init__.py
diff --git a/‎pySTL/benchmarks/base.py renamed to ‎stlpy/benchmarks/base.py b/‎pySTL/benchmarks/base.py renamed to ‎stlpy/benchmarks/base.py
diff --git a/‎pySTL/benchmarks/common.py renamed to ‎stlpy/benchmarks/common.py
+1-1 b/‎pySTL/benchmarks/common.py renamed to ‎stlpy/benchmarks/common.py
+1-1
diff --git a/‎pySTL/benchmarks/door_puzzle.py renamed to ‎stlpy/benchmarks/door_puzzle.py b/‎pySTL/benchmarks/door_puzzle.py renamed to ‎stlpy/benchmarks/door_puzzle.py
diff --git a/‎pySTL/benchmarks/either_or.py renamed to ‎stlpy/benchmarks/either_or.py b/‎pySTL/benchmarks/either_or.py renamed to ‎stlpy/benchmarks/either_or.py
diff --git a/‎pySTL/benchmarks/narrow_passage.py renamed to ‎stlpy/benchmarks/narrow_passage.py b/‎pySTL/benchmarks/narrow_passage.py renamed to ‎stlpy/benchmarks/narrow_passage.py
diff --git a/‎pySTL/benchmarks/nonlinear_reach_avoid.py renamed to ‎stlpy/benchmarks/nonlinear_reach_avoid.py b/‎pySTL/benchmarks/nonlinear_reach_avoid.py renamed to ‎stlpy/benchmarks/nonlinear_reach_avoid.py
diff --git a/‎pySTL/benchmarks/random_multitarget.py renamed to ‎stlpy/benchmarks/random_multitarget.py b/‎pySTL/benchmarks/random_multitarget.py renamed to ‎stlpy/benchmarks/random_multitarget.py
diff --git a/‎pySTL/benchmarks/reach_avoid.py renamed to ‎stlpy/benchmarks/reach_avoid.py b/‎pySTL/benchmarks/reach_avoid.py renamed to ‎stlpy/benchmarks/reach_avoid.py
diff --git a/‎pySTL/benchmarks/stepping_stones.py renamed to ‎stlpy/benchmarks/stepping_stones.py b/‎pySTL/benchmarks/stepping_stones.py renamed to ‎stlpy/benchmarks/stepping_stones.py
diff --git a/‎pySTL/solvers/__init__.py renamed to ‎stlpy/solvers/__init__.py b/‎pySTL/solvers/__init__.py renamed to ‎stlpy/solvers/__init__.py
diff --git a/‎pySTL/solvers/base.py renamed to ‎stlpy/solvers/base.py b/‎pySTL/solvers/base.py renamed to ‎stlpy/solvers/base.py
diff --git a/‎pySTL/solvers/drake/__init__.py renamed to ‎stlpy/solvers/drake/__init__.py b/‎pySTL/solvers/drake/__init__.py renamed to ‎stlpy/solvers/drake/__init__.py
diff --git a/‎pySTL/solvers/drake/drake_base.py renamed to ‎stlpy/solvers/drake/drake_base.py b/‎pySTL/solvers/drake/drake_base.py renamed to ‎stlpy/solvers/drake/drake_base.py
diff --git a/‎pySTL/solvers/drake/drake_micp.py renamed to ‎stlpy/solvers/drake/drake_micp.py b/‎pySTL/solvers/drake/drake_micp.py renamed to ‎stlpy/solvers/drake/drake_micp.py
diff --git a/‎pySTL/solvers/drake/drake_smooth.py renamed to ‎stlpy/solvers/drake/drake_smooth.py b/‎pySTL/solvers/drake/drake_smooth.py renamed to ‎stlpy/solvers/drake/drake_smooth.py
diff --git a/‎pySTL/solvers/drake/drake_sos1.py renamed to ‎stlpy/solvers/drake/drake_sos1.py b/‎pySTL/solvers/drake/drake_sos1.py renamed to ‎stlpy/solvers/drake/drake_sos1.py
diff --git a/‎pySTL/solvers/gurobi/__init__.py renamed to ‎stlpy/solvers/gurobi/__init__.py b/‎pySTL/solvers/gurobi/__init__.py renamed to ‎stlpy/solvers/gurobi/__init__.py
diff --git a/‎pySTL/solvers/gurobi/gurobi_micp.py renamed to ‎stlpy/solvers/gurobi/gurobi_micp.py b/‎pySTL/solvers/gurobi/gurobi_micp.py renamed to ‎stlpy/solvers/gurobi/gurobi_micp.py
diff --git a/‎pySTL/solvers/scipy/__init__.py renamed to ‎stlpy/solvers/scipy/__init__.py b/‎pySTL/solvers/scipy/__init__.py renamed to ‎stlpy/solvers/scipy/__init__.py
diff --git a/‎pySTL/solvers/scipy/gradient_solver.py renamed to ‎stlpy/solvers/scipy/gradient_solver.py b/‎pySTL/solvers/scipy/gradient_solver.py renamed to ‎stlpy/solvers/scipy/gradient_solver.py
diff --git a/‎pySTL/systems/__init__.py renamed to ‎stlpy/systems/__init__.py b/‎pySTL/systems/__init__.py renamed to ‎stlpy/systems/__init__.py
diff --git a/‎pySTL/systems/linear.py renamed to ‎stlpy/systems/linear.py b/‎pySTL/systems/linear.py renamed to ‎stlpy/systems/linear.py
diff --git a/‎pySTL/systems/nonlinear.py renamed to ‎stlpy/systems/nonlinear.py b/‎pySTL/systems/nonlinear.py renamed to ‎stlpy/systems/nonlinear.py
@@ -2,12 +2,12 @@
 
 # -- Project information
 
-project = 'PySTL'
+project = 'stlpy'
 copyright = '2022, Vince Kurtz'
 author = 'Vince Kurtz'
 
-release = '0.2'
-version = '0.2.0'
+release = '0.1.0'
+version = '0.1.0'
 
 # -- General configuration
 
 
@@ -10,8 +10,8 @@
 
 import numpy as np
 import matplotlib.pyplot as plt
-from pySTL.benchmarks import DoorPuzzle
-from pySTL.solvers import *
+from stlpy.benchmarks import DoorPuzzle
+from stlpy.solvers import *
 
 # Specification Parameters
 T = 25
 
@@ -10,15 +10,15 @@
 
 import numpy as np
 import matplotlib.pyplot as plt
-from pySTL.benchmarks import EitherOr
-from pySTL.solvers import *
+from stlpy.benchmarks import EitherOr
+from stlpy.solvers import *
 
 # Specification Parameters
 goal = (7,8,8,9)     # (xmin, xmax, ymin, ymax)
 target_one = (1,2,6,7)
 target_two = (7,8,4.5,5.5)
 obstacle = (3,5,4,6)
-T = 25
+T = 20
 dwell_time = 5
 
 # Create the specification
 
@@ -10,8 +10,8 @@
 
 import numpy as np
 import matplotlib.pyplot as plt
-from pySTL.benchmarks import RandomMultitarget
-from pySTL.solvers import *
+from stlpy.benchmarks import RandomMultitarget
+from stlpy.solvers import *
 
 # Specification Parameters
 num_obstacles = 1
 
@@ -10,8 +10,8 @@
 
 import numpy as np
 import matplotlib.pyplot as plt
-from pySTL.benchmarks import NarrowPassage
-from pySTL.solvers import *
+from stlpy.benchmarks import NarrowPassage
+from stlpy.solvers import *
 
 # Specification Parameters
 T = 25
@@ -32,8 +32,8 @@
 
 # Specify a solution method
 #solver = GurobiMICPSolver(spec, sys, x0, T, robustness_cost=True)
-#solver = DrakeMICPSolver(spec, sys, x0, T, robustness_cost=True)
-solver = DrakeSos1Solver(spec, sys, x0, T, robustness_cost=True)
+solver = DrakeMICPSolver(spec, sys, x0, T, robustness_cost=True, presolve=False)
+#solver = DrakeSos1Solver(spec, sys, x0, T, robustness_cost=True)
 
 # Set bounds on state and control variables
 u_min = np.array([-0.5,-0.5])
 
@@ -12,8 +12,8 @@
 import numpy as np
 import matplotlib.pyplot as plt
 
-from pySTL.benchmarks import NonlinearReachAvoid
-from pySTL.solvers import *
+from stlpy.benchmarks import NonlinearReachAvoid
+from stlpy.solvers import *
 
 # Specification Parameters
 goal = (7.5, 8.5)  # goal center and radius
 
@@ -12,8 +12,8 @@
 import numpy as np
 import matplotlib.pyplot as plt
 
-from pySTL.benchmarks import ReachAvoid
-from pySTL.solvers import *
+from stlpy.benchmarks import ReachAvoid
+from stlpy.solvers import *
 
 # Specification Parameters
 goal_bounds = (7,8,8,9)     # (xmin, xmax, ymin, ymax)
 
@@ -10,8 +10,8 @@
 
 import numpy as np
 import matplotlib.pyplot as plt
-from pySTL.benchmarks import SteppingStones
-from pySTL.solvers import *
+from stlpy.benchmarks import SteppingStones
+from stlpy.solvers import *
 
 # Specification Parameters
 num_stones = 15
 
@@ -13,9 +13,9 @@
 import matplotlib.pyplot as plt
 from matplotlib.animation import FuncAnimation
 
-from pySTL.STL import STLFormula, LinearPredicate
-from pySTL.systems import LinearSystem
-from pySTL.solvers import DrakeMICPSolver, DrakeSos1Solver
+from stlpy.STL import STLFormula, LinearPredicate
+from stlpy.systems import LinearSystem
+from stlpy.solvers import DrakeMICPSolver, DrakeSos1Solver
 
 ######################################
 # System definition
 
@@ -1,9 +1,9 @@
 from setuptools import setup, find_packages
 
-setup(name='pySTL',
-      version='0.2',
+setup(name='stlpy',
+      version='0.1.0',
       description='A Python library for Signal Temporal Logic',
-      url='http://github.com/vincekurtz/pySTL',
+      url='http://github.com/vincekurtz/stlpy',
       author='Vince Kurtz',
       author_email='vjkurtz@gmail.com',
       license='MIT',
 
@@ -5,7 +5,7 @@
 ##
 
 import numpy as np
-from pySTL.STL import LinearPredicate, NonlinearPredicate
+from stlpy.STL import LinearPredicate, NonlinearPredicate
 from matplotlib.patches import Rectangle, Circle
 
 def inside_circle_formula(center, radius, y1_index, y2_index, d, name=None):