[Wave RHO][1/4] Fix Acados control-bound scaling and ordering

[mickaelbegon]

Note

Wave RHO 1/4 — Draft/WIP. Tracking issue: #1086.

This wave and its decomposition come from an analysis performed by OpenAI Codex. Maintainer review is required before these proposals are considered ready.

Wave RHO context

The overall goal is to upstream generic, application-independent foundations for reliable receding-horizon workflows with IPOPT and Acados: solver-input correctness, supported warm-start grid transfer, explicit window outcomes/diagnostics/hooks, and finally supported solver tuning.

Proposed review/merge order:

1. [Wave RHO][1/4] Fix Acados control-bound scaling and ordering #1075 — Acados control-bound correctness
2. [Wave RHO][2/4] Adapt solutions to new initial-guess grids #1073 — solution-to-initial-guess grid adaptation
3. [Wave RHO][3/4] Preserve receding-horizon outcomes and expose Acados diagnostics #1072 — RHO outcomes, hooks, cyclic shifts, diagnostics, and iterate access
4. [Wave RHO][4/4] Expose supported advanced Acados options #1074 — advanced Acados options

Role of this PR: correctness foundation for every Acados RHO run.

Interaction: Code-independent from #1073, but both establish the inputs used by the core RHO workflow in #1072.

All four PRs target master independently; this is an interaction/review order, not a stacked Git dependency.

What changed

• keep generated Acados lbu and ubu in the correct lower/upper order
• apply Bioptim control scaling both during code generation and numerical window updates
• centralize bound assembly in one tested helper
• validate scaled lower bounds do not exceed upper bounds

Root cause

The generation path assigned maximum values to lbu and minimum values to ubu. The update path corrected the order but sent unscaled physical bounds to scaled Acados controls.

Validation

• pytest -q tests/shard1/test_acados_control_bounds.py
• 2 passed

---

This change is 

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 77.86%. Comparing base (89c83a3) to head (9a88e00).
⚠️ Report is 8 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1075      +/-   ##
==========================================
+ Coverage   77.26%   77.86%   +0.60%     
==========================================
  Files         196      197       +1     
  Lines       21506    21504       -2     
==========================================
+ Hits        16616    16744     +128     
+ Misses       4890     4760     -130     

Flag	Coverage Δ
unittests	77.86% <100.00%> (+0.60%)	⬆️

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[pariterre]

RTM? looks good to me

[EveCharbie]

And what about state and algebraic_state bounds ? Do they also need to be scaled in the same way ?

[EveCharbie]

This file addition is not necessary. Please instead use _dispatch_control_bounds from bound_vector.py. If not possible, please try to reuse existing code as much as possible and justify what is missing.

[EveCharbie]

These self.acados_ocp.constraints.ubu should contain the scaled version. Please do not change the "meaning" of the attributes

[EveCharbie]

Could you please move these tests to test_bounds_accessor ? And please try to avoid mock classes like _Variables and use the real classes from bioptim as much as possible (if not possible please justify).