Remove state rates, control rates, and t_phase from the timeseries by…

… default, and remove type prefix. (#935)

* Remove state rates, control rates, and t_phase from the timeseries by default.

* No longer apply variable type prefix to timeseries output, by default.

* when requesting rate source values in timeseries but without prefixes, use the rate source name as the timeseries output

* more fixes for timeseries change

* more changes to accommodate removal of timeseries prefixes.

* more timeseries change accommodations

* more changes from the timeseries output renaming

* fixes for no_pyoptsparse tests

* continued progress on the timeseries name output change.

* Make dymos options temporary in tests to avoid sticky issues.

* fixed tandem phase documents that relied on timeseries prefixes

* BACKWARDS INCOMPATIBILITY: Changed dymos global use_timeseries_prefix option to a phase timeseries_option called use_prefix.
Previous global behavior was being "sticky" during tests and could potentially cause trouble when loading phases.  That functionality is next.

* Continuing to cleanup tests.

* adapt balanced field length doc test to the timeseries changes

* add duration timings to testflo since latest is running considerably longer

* apply timeseries name changing to the implciit t_duration tests

* updated implicit duration docs for new timeseries updates

* another timeseries prefix usage fixed in test

.github/workflows/dymos_tests_workflow.yml

@@ -282,7 +282,7 @@ jobs:
           testflo -n 1 joss/test --pre_announce
           testflo -b benchmark --pre_announce
           cd $HOME
-          testflo dymos -n 2 --show_skipped --coverage --coverpkg dymos
+          testflo dymos -n 2 --show_skipped --coverage --durations 20 --coverpkg dymos
 
       - name: Submit coverage
         if: (github.event_name != 'workflow_dispatch')

benchmark/benchmark_brachistochrone.py

@@ -79,18 +79,18 @@ def run_asserts(self, p):
         t_initial = p.get_val('phase0.timeseries.time')[0]
         tf = p.get_val('phase0.timeseries.time')[-1]
 
-        x0 = p.get_val('phase0.timeseries.states:x')[0]
-        xf = p.get_val('phase0.timeseries.states:x')[-1]
+        x0 = p.get_val('phase0.timeseries.x')[0]
+        xf = p.get_val('phase0.timeseries.x')[-1]
 
-        y0 = p.get_val('phase0.timeseries.states:y')[0]
-        yf = p.get_val('phase0.timeseries.states:y')[-1]
+        y0 = p.get_val('phase0.timeseries.y')[0]
+        yf = p.get_val('phase0.timeseries.y')[-1]
 
-        v0 = p.get_val('phase0.timeseries.states:v')[0]
-        vf = p.get_val('phase0.timeseries.states:v')[-1]
+        v0 = p.get_val('phase0.timeseries.v')[0]
+        vf = p.get_val('phase0.timeseries.v')[-1]
 
         g = p.get_val('phase0.parameter_vals:g')[0]
 
-        thetaf = p.get_val('phase0.timeseries.controls:theta')[-1]
+        thetaf = p.get_val('phase0.timeseries.theta')[-1]
 
         assert_near_equal(t_initial, 0.0)
         assert_near_equal(x0, 0.0)

benchmark/benchmark_racecar.py

@@ -164,7 +164,7 @@ def _run_racecar_problem(transcription, timeseries=False, make_plots=False):
     dm.run_problem(p, run_driver=True, simulate=False, make_plots=make_plots)
     print('Optimization finished')
 
-    t = p.get_val('traj.phase0.timeseries.states:t')
+    t = p.get_val('traj.phase0.timeseries.t')
     assert_near_equal(t[-1], 22.2657, tolerance=0.01)
 
 

docs/dymos_book/examples/balanced_field/balanced_field.ipynb

@@ -714,8 +714,8 @@
     "\n",
     "fig, axes = plt.subplots(2, 1, sharex=True, gridspec_kw={'top': 0.92}, figsize=(12,6))\n",
     "for phase in ['br_to_v1', 'rto', 'v1_to_vr', 'rotate', 'climb']:\n",
-    "    r = sim_case.get_val(f'traj.{phase}.timeseries.states:r', units='ft')\n",
-    "    v = sim_case.get_val(f'traj.{phase}.timeseries.states:v', units='kn')\n",
+    "    r = sim_case.get_val(f'traj.{phase}.timeseries.r', units='ft')\n",
+    "    v = sim_case.get_val(f'traj.{phase}.timeseries.v', units='kn')\n",
     "    t = sim_case.get_val(f'traj.{phase}.timeseries.time', units='s')\n",
     "    axes[0].plot(t, r, '-', label=phase)\n",
     "    axes[1].plot(t, v, '-', label=phase)\n",
@@ -727,10 +727,10 @@
     "axes[1].grid(True)\n",
     "\n",
     "tv1 = sim_case.get_val('traj.br_to_v1.timeseries.time', units='s')[-1, 0]\n",
-    "v1 = sim_case.get_val('traj.br_to_v1.timeseries.states:v', units='kn')[-1, 0]\n",
+    "v1 = sim_case.get_val('traj.br_to_v1.timeseries.v', units='kn')[-1, 0]\n",
     "\n",
     "tf_rto = sim_case.get_val('traj.rto.timeseries.time', units='s')[-1, 0]\n",
-    "rf_rto = sim_case.get_val('traj.rto.timeseries.states:r', units='ft')[-1, 0]\n",
+    "rf_rto = sim_case.get_val('traj.rto.timeseries.r', units='ft')[-1, 0]\n",
     "\n",
     "axes[0].annotate(f'field length = {r[-1, 0]:5.1f} ft', xy=(t[-1, 0], r[-1, 0]),\n",
     "                 xycoords='data', xytext=(0.7, 0.5),\n",

docs/dymos_book/examples/balanced_field/balanced_field_funccomp.ipynb

@@ -451,8 +451,8 @@
     "\n",
     "fig, axes = plt.subplots(2, 1, sharex=True, gridspec_kw={'top': 0.92}, figsize=(12, 6))\n",
     "for phase in ['br_to_v1', 'rto', 'v1_to_vr', 'rotate', 'climb']:\n",
-    "    r = sim_case.get_val(f'traj.{phase}.timeseries.states:r', units='ft')\n",
-    "    v = sim_case.get_val(f'traj.{phase}.timeseries.states:v', units='kn')\n",
+    "    r = sim_case.get_val(f'traj.{phase}.timeseries.r', units='ft')\n",
+    "    v = sim_case.get_val(f'traj.{phase}.timeseries.v', units='kn')\n",
     "    t = sim_case.get_val(f'traj.{phase}.timeseries.time', units='s')\n",
     "    axes[0].plot(t, r, '-', label=phase)\n",
     "    axes[1].plot(t, v, '-', label=phase)\n",
@@ -464,10 +464,10 @@
     "axes[1].grid(True)\n",
     "\n",
     "tv1 = sim_case.get_val('traj.br_to_v1.timeseries.time', units='s')[-1, 0]\n",
-    "v1 = sim_case.get_val('traj.br_to_v1.timeseries.states:v', units='kn')[-1, 0]\n",
+    "v1 = sim_case.get_val('traj.br_to_v1.timeseries.v', units='kn')[-1, 0]\n",
     "\n",
     "tf_rto = sim_case.get_val('traj.rto.timeseries.time', units='s')[-1, 0]\n",
-    "rf_rto = sim_case.get_val('traj.rto.timeseries.states:r', units='ft')[-1, 0]\n",
+    "rf_rto = sim_case.get_val('traj.rto.timeseries.r', units='ft')[-1, 0]\n",
     "\n",
     "axes[0].annotate(f'field length = {r[-1, 0]:5.1f} ft', xy=(t[-1, 0], r[-1, 0]),\n",
     "                 xycoords='data', xytext=(0.7, 0.5),\n",

docs/dymos_book/examples/brachistochrone/brachistochrone.ipynb

@@ -505,9 +505,9 @@
     "# Generate the explicitly simulated trajectory\n",
     "exp_out = traj.simulate()\n",
     "\n",
-    "plot_results([('traj.phase0.timeseries.states:x', 'traj.phase0.timeseries.states:y',\n",
+    "plot_results([('traj.phase0.timeseries.x', 'traj.phase0.timeseries.y',\n",
     "               'x (m)', 'y (m)'),\n",
-    "              ('traj.phase0.timeseries.time', 'traj.phase0.timeseries.controls:theta',\n",
+    "              ('traj.phase0.timeseries.time', 'traj.phase0.timeseries.theta',\n",
     "               'time (s)', 'theta (deg)')],\n",
     "             title='Brachistochrone Solution\\nHigh-Order Gauss-Lobatto Method',\n",
     "             p_sol=p, p_sim=exp_out)\n",
@@ -649,9 +649,9 @@
    },
    "outputs": [],
    "source": [
-    "plot_results([('traj.phase0.timeseries.states:x', 'traj.phase0.timeseries.states:y',\n",
+    "plot_results([('traj.phase0.timeseries.x', 'traj.phase0.timeseries.y',\n",
     "               'x (m)', 'y (m)'),\n",
-    "              ('traj.phase0.timeseries.time', 'traj.phase0.timeseries.controls:theta',\n",
+    "              ('traj.phase0.timeseries.time', 'traj.phase0.timeseries.theta',\n",
     "               'time (s)', 'theta (deg)')],\n",
     "             title='Brachistochrone Solution\\nExplicit Shooting Method',\n",
     "             p_sol=p)\n",

docs/dymos_book/examples/brachistochrone/brachistochrone_tandem_phases.ipynb

@@ -217,8 +217,8 @@
     "#\n",
     "p.model.connect('phase0.t_duration', 'phase1.t_duration')\n",
     "\n",
-    "p.model.connect('phase0.timeseries2.controls:theta', 'phase1.controls:theta')\n",
-    "p.model.connect('phase0.timeseries2.states:v', 'phase1.controls:v')\n",
+    "p.model.connect('phase0.timeseries2.theta', 'phase1.controls:theta')\n",
+    "p.model.connect('phase0.timeseries2.v', 'phase1.controls:v')\n",
     "\n",
     "# Minimize time\n",
     "phase1.add_objective('time', loc='final', ref=1)\n",
@@ -308,12 +308,12 @@
     "\n",
     "sol_case = om.CaseReader('dymos_solution.db').get_case('final')\n",
     "\n",
-    "sol_x = sol_case.get_val('phase0.timeseries.states:x')\n",
-    "sol_y = sol_case.get_val('phase0.timeseries.states:y')\n",
-    "sol_v = sol_case.get_val('phase0.timeseries.states:v')\n",
+    "sol_x = sol_case.get_val('phase0.timeseries.x')\n",
+    "sol_y = sol_case.get_val('phase0.timeseries.y')\n",
+    "sol_v = sol_case.get_val('phase0.timeseries.v')\n",
     "sol_t0 = sol_case.get_val('phase0.timeseries.time')\n",
     "sol_t1 = sol_case.get_val('phase1.timeseries.time')\n",
-    "sol_s = sol_case.get_val('phase1.timeseries.states:S')\n",
+    "sol_s = sol_case.get_val('phase1.timeseries.S')\n",
     "\n",
     "def add_plot(p, x, y, label, i):\n",
     "    circle = p.circle(x.ravel(), y.ravel(), color=c[i], size=5)\n",
@@ -357,7 +357,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.10.5"
+   "version": "3.11.0"
   }
  },
  "nbformat": 4,

docs/dymos_book/examples/brachistochrone/brachistochrone_upstream_controls.ipynb

@@ -185,12 +185,12 @@
     "# Plot the results\n",
     "fig, axes = plt.subplots(nrows=1, ncols=2, figsize=(12, 4.5))\n",
     "\n",
-    "axes[0].plot(p.get_val('traj.phase0.timeseries.states:x'),\n",
-    "             p.get_val('traj.phase0.timeseries.states:y'),\n",
+    "axes[0].plot(p.get_val('traj.phase0.timeseries.x'),\n",
+    "             p.get_val('traj.phase0.timeseries.y'),\n",
     "             'ro', label='solution')\n",
     "\n",
-    "axes[0].plot(sim_out.get_val('traj.phase0.timeseries.states:x'),\n",
-    "             sim_out.get_val('traj.phase0.timeseries.states:y'),\n",
+    "axes[0].plot(sim_out.get_val('traj.phase0.timeseries.x'),\n",
+    "             sim_out.get_val('traj.phase0.timeseries.y'),\n",
     "             'b-', label='simulation')\n",
     "\n",
     "axes[0].set_xlabel('x (m)')\n",
@@ -199,11 +199,11 @@
     "axes[0].grid()\n",
     "\n",
     "axes[1].plot(p.get_val('traj.phase0.timeseries.time'),\n",
-    "             p.get_val('traj.phase0.timeseries.controls:theta', units='deg'),\n",
+    "             p.get_val('traj.phase0.timeseries.theta', units='deg'),\n",
     "             'ro', label='solution')\n",
     "\n",
     "axes[1].plot(sim_out.get_val('traj.phase0.timeseries.time'),\n",
-    "             sim_out.get_val('traj.phase0.timeseries.controls:theta', units='deg'),\n",
+    "             sim_out.get_val('traj.phase0.timeseries.theta', units='deg'),\n",
     "             'b-', label='simulation')\n",
     "\n",
     "axes[1].set_xlabel('time (s)')\n",

docs/dymos_book/examples/brachistochrone/brachistochrone_upstream_init_duration_states.ipynb

@@ -91,7 +91,7 @@
     "# Connect x0 to the state error component so we can constrain the given value of x0\n",
     "# to be equal to the value chosen in the phase.\n",
     "# p.model.connect('x0', 'state_error_comp.x0_target')\n",
-    "# p.model.connect('traj.phase0.timeseries.states:x', 'state_error_comp.x0_actual',\n",
+    "# p.model.connect('traj.phase0.timeseries.x', 'state_error_comp.x0_actual',\n",
     "#                 src_indices=[0])\n",
     "p.model.connect('t_initial', 'traj.phase0.t_initial')\n",
     "p.model.connect('t_duration', 'traj.phase0.t_duration')\n",
@@ -188,21 +188,21 @@
     "\n",
     "# Plot the results\n",
     "fig, axes = plt.subplots(nrows=1, ncols=2, figsize=(12, 4.5))\n",
-    "axes[0].plot(sol.get_val('traj.phase0.timeseries.states:x'),\n",
-    "             sol.get_val('traj.phase0.timeseries.states:y'),\n",
+    "axes[0].plot(sol.get_val('traj.phase0.timeseries.x'),\n",
+    "             sol.get_val('traj.phase0.timeseries.y'),\n",
     "             'ro', label='solution')\n",
-    "axes[0].plot(sim.get_val('traj.phase0.timeseries.states:x'),\n",
-    "             sim.get_val('traj.phase0.timeseries.states:y'),\n",
+    "axes[0].plot(sim.get_val('traj.phase0.timeseries.x'),\n",
+    "             sim.get_val('traj.phase0.timeseries.y'),\n",
     "             'b-', label='simulation')\n",
     "axes[0].set_xlabel('x (m)')\n",
     "axes[0].set_ylabel('y (m/s)')\n",
     "axes[0].legend()\n",
     "axes[0].grid()\n",
     "axes[1].plot(sol.get_val('traj.phase0.timeseries.time'),\n",
-    "             sol.get_val('traj.phase0.timeseries.controls:theta', units='deg'),\n",
+    "             sol.get_val('traj.phase0.timeseries.theta', units='deg'),\n",
     "             'ro', label='solution')\n",
     "axes[1].plot(sim.get_val('traj.phase0.timeseries.time'),\n",
-    "             sim.get_val('traj.phase0.timeseries.controls:theta', units='deg'),\n",
+    "             sim.get_val('traj.phase0.timeseries.theta', units='deg'),\n",
     "             'b-', label='simulation')\n",
     "axes[1].set_xlabel('time (s)')\n",
     "axes[1].set_ylabel(r'$\\theta$ (deg)')\n",

docs/dymos_book/examples/brachistochrone/brachistochrone_upstream_states.ipynb

@@ -107,7 +107,7 @@
     "# Connect x0 to the state error component so we can constrain the given value of x0\n",
     "# to be equal to the value chosen in the phase.\n",
     "p.model.connect('x0', 'state_error_comp.x0_target')\n",
-    "p.model.connect('traj.phase0.timeseries.states:x', 'state_error_comp.x0_actual', src_indices=[0])\n",
+    "p.model.connect('traj.phase0.timeseries.x', 'state_error_comp.x0_actual', src_indices=[0])\n",
     "\n",
     "#\n",
     "# Define a Trajectory object\n",
@@ -203,12 +203,12 @@
     "# Plot the results\n",
     "fig, axes = plt.subplots(nrows=1, ncols=2, figsize=(12, 4.5))\n",
     "\n",
-    "axes[0].plot(p.get_val('traj.phase0.timeseries.states:x'),\n",
-    "             p.get_val('traj.phase0.timeseries.states:y'),\n",
+    "axes[0].plot(p.get_val('traj.phase0.timeseries.x'),\n",
+    "             p.get_val('traj.phase0.timeseries.y'),\n",
     "             'ro', label='solution')\n",
     "\n",
-    "axes[0].plot(sim_out.get_val('traj.phase0.timeseries.states:x'),\n",
-    "             sim_out.get_val('traj.phase0.timeseries.states:y'),\n",
+    "axes[0].plot(sim_out.get_val('traj.phase0.timeseries.x'),\n",
+    "             sim_out.get_val('traj.phase0.timeseries.y'),\n",
     "             'b-', label='simulation')\n",
     "\n",
     "axes[0].set_xlabel('x (m)')\n",
@@ -217,11 +217,11 @@
     "axes[0].grid()\n",
     "\n",
     "axes[1].plot(p.get_val('traj.phase0.timeseries.time'),\n",
-    "             p.get_val('traj.phase0.timeseries.controls:theta', units='deg'),\n",
+    "             p.get_val('traj.phase0.timeseries.theta', units='deg'),\n",
     "             'ro', label='solution')\n",
     "\n",
     "axes[1].plot(sim_out.get_val('traj.phase0.timeseries.time'),\n",
-    "             sim_out.get_val('traj.phase0.timeseries.controls:theta', units='deg'),\n",
+    "             sim_out.get_val('traj.phase0.timeseries.theta', units='deg'),\n",
     "             'b-', label='simulation')\n",
     "\n",
     "axes[1].set_xlabel('time (s)')\n",

docs/dymos_book/examples/bryson_denham/bryson_denham.ipynb

@@ -450,17 +450,17 @@
     "sim = om.CaseReader('dymos_simulation.db').get_case('final')\n",
     "\n",
     "t = sol.get_val('traj.phase0.timeseries.time')\n",
-    "x = sol.get_val('traj.phase0.timeseries.states:x')\n",
-    "v = sol.get_val('traj.phase0.timeseries.states:v')\n",
-    "J = sol.get_val('traj.phase0.timeseries.states:J')\n",
-    "u = sol.get_val('traj.phase0.timeseries.controls:u')\n",
+    "x = sol.get_val('traj.phase0.timeseries.x')\n",
+    "v = sol.get_val('traj.phase0.timeseries.v')\n",
+    "J = sol.get_val('traj.phase0.timeseries.J')\n",
+    "u = sol.get_val('traj.phase0.timeseries.u')\n",
     "h = np.sin(3 * x) / 3\n",
     "\n",
     "t_sim = sim.get_val('traj.phase0.timeseries.time')\n",
-    "x_sim = sim.get_val('traj.phase0.timeseries.states:x')\n",
-    "v_sim = sim.get_val('traj.phase0.timeseries.states:v')\n",
-    "J_sim = sim.get_val('traj.phase0.timeseries.states:J')\n",
-    "u_sim = sim.get_val('traj.phase0.timeseries.controls:u')\n",
+    "x_sim = sim.get_val('traj.phase0.timeseries.x')\n",
+    "v_sim = sim.get_val('traj.phase0.timeseries.v')\n",
+    "J_sim = sim.get_val('traj.phase0.timeseries.J')\n",
+    "u_sim = sim.get_val('traj.phase0.timeseries.u')\n",
     "h_sim = np.sin(3 * x_sim) / 3\n",
     "\n",
     "fig = plt.figure(constrained_layout=True, figsize=(12, 4))\n",

docs/dymos_book/examples/cannonball_implicit_duration/cannonball_implicit_duration.ipynb

@@ -372,9 +372,9 @@
     "print(f'optimal radius: {rad} m ')\n",
     "mass = p.get_val('size_comp.mass', units='kg')[0]\n",
     "print(f'cannonball mass: {mass} kg ')\n",
-    "angle = p.get_val('traj.phase.timeseries.states:gam', units='deg')[0, 0]\n",
+    "angle = p.get_val('traj.phase.timeseries.gam', units='deg')[0, 0]\n",
     "print(f'launch angle: {angle} deg')\n",
-    "max_range = p.get_val('traj.phase.timeseries.states:r')[-1, 0]\n",
+    "max_range = p.get_val('traj.phase.timeseries.r')[-1, 0]\n",
     "print(f'maximum range: {max_range} m')\n",
     "\n",
     "fig, axes = plt.subplots(nrows=1, ncols=1, figsize=(10, 6))\n",
@@ -383,13 +383,13 @@
     "\n",
     "time_exp = exp_out.get_val('traj.phase.timeseries.time')\n",
     "\n",
-    "r_imp = p.get_val('traj.phase.timeseries.states:r')\n",
+    "r_imp = p.get_val('traj.phase.timeseries.r')\n",
     "\n",
-    "r_exp = exp_out.get_val('traj.phase.timeseries.states:r')\n",
+    "r_exp = exp_out.get_val('traj.phase.timeseries.r')\n",
     "\n",
-    "h_imp = p.get_val('traj.phase.timeseries.states:h')\n",
+    "h_imp = p.get_val('traj.phase.timeseries.h')\n",
     "\n",
-    "h_exp = exp_out.get_val('traj.phase.timeseries.states:h')\n",
+    "h_exp = exp_out.get_val('traj.phase.timeseries.h')\n",
     "\n",
     "axes.plot(r_imp, h_imp, 'bo')\n",
     "\n",
@@ -401,9 +401,9 @@
     "fig, axes = plt.subplots(nrows=4, ncols=1, figsize=(10, 6))\n",
     "states = ['r', 'h', 'v', 'gam']\n",
     "for i, state in enumerate(states):\n",
-    "    x_imp = p.get_val(f'traj.phase.timeseries.states:{state}')\n",
+    "    x_imp = p.get_val(f'traj.phase.timeseries.{state}')\n",
     "\n",
-    "    x_exp = exp_out.get_val(f'traj.phase.timeseries.states:{state}')\n",
+    "    x_exp = exp_out.get_val(f'traj.phase.timeseries.{state}')\n",
     "\n",
     "    axes[i].set_ylabel(state)\n",
     "\n",
@@ -426,16 +426,9 @@
    "source": [
     "from openmdao.utils.assert_utils import assert_near_equal\n",
     "\n",
-    "assert_near_equal(p.get_val('traj.phase.states:r')[-1],\n",
+    "assert_near_equal(p.get_val('traj.phase.timeseries.r')[-1],\n",
     "                  3183.25, tolerance=1.0E-2)"
    ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": []
   }
  ],
  "metadata": {
@@ -463,7 +456,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.11.0"
+   "version": "3.11.4"
   }
  },
  "nbformat": 4,

docs/dymos_book/examples/cart_pole/cart_pole.ipynb

@@ -333,17 +333,17 @@
     "sim = om.CaseReader('dymos_simulation.db').get_case('final')\n",
     "\n",
     "# plot time histories of x, x_dot, theta, theta_dot\n",
-    "plot_results([('traj.phase.timeseries.time', 'traj.phase.timeseries.states:x', 'time (s)', 'x (m)'),\n",
-    "              ('traj.phase.timeseries.time', 'traj.phase.timeseries.states:x_dot', 'time (s)', 'vx (m/s)'),\n",
-    "              ('traj.phase.timeseries.time', 'traj.phase.timeseries.states:theta', 'time (s)', 'theta (rad)'),\n",
-    "              ('traj.phase.timeseries.time', 'traj.phase.timeseries.states:theta_dot', 'time (s)', 'theta_dot (rad/s)'),\n",
-    "              ('traj.phase.timeseries.time', 'traj.phase.timeseries.controls:f', 'time (s)', 'control (N)')],\n",
+    "plot_results([('traj.phase.timeseries.time', 'traj.phase.timeseries.x', 'time (s)', 'x (m)'),\n",
+    "              ('traj.phase.timeseries.time', 'traj.phase.timeseries.x_dot', 'time (s)', 'vx (m/s)'),\n",
+    "              ('traj.phase.timeseries.time', 'traj.phase.timeseries.theta', 'time (s)', 'theta (rad)'),\n",
+    "              ('traj.phase.timeseries.time', 'traj.phase.timeseries.theta_dot', 'time (s)', 'theta_dot (rad/s)'),\n",
+    "              ('traj.phase.timeseries.time', 'traj.phase.timeseries.f', 'time (s)', 'control (N)')],\n",
     "             title='Cart-Pole Problem', p_sol=sol, p_sim=sim)\n",
     "\n",
     "# uncomment the following lines to show the cart-pole animation\n",
-    "### x = sol.get_val('traj.phase.timeseries.states:x', units='m')\n",
-    "### theta = sol.get_val('traj.phase.timeseries.states:theta', units='rad')\n",
-    "### force = sol.get_val('traj.phase.timeseries.controls:f', units='N')\n",
+    "### x = sol.get_val('traj.phase.timeseries.x', units='m')\n",
+    "### theta = sol.get_val('traj.phase.timeseries.theta', units='rad')\n",
+    "### force = sol.get_val('traj.phase.timeseries.f', units='N')\n",
     "### npts = len(x)\n",
     "\n",
     "### from dymos.examples.cart_pole.animate_cartpole import animate_cartpole\n",

docs/dymos_book/examples/commercial_aircraft/commercial_aircraft.ipynb

@@ -689,7 +689,7 @@
    "source": [
     "from openmdao.utils.assert_utils import assert_near_equal\n",
     "\n",
-    "assert_near_equal(p.get_val('traj.phase0.timeseries.states:range', units='NM')[-1],\n",
+    "assert_near_equal(p.get_val('traj.phase0.timeseries.range', units='NM')[-1],\n",
     "                  726.85, tolerance=1.0E-2)"
    ]
   },