cosseratbench 0.0.1__tar.gz

cosseratbench-0.0.1/LICENSE

@@ -0,0 +1,201 @@
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cosseratbench-0.0.1/PKG-INFO

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+Metadata-Version: 2.4
+Name: cosseratbench
+Version: 0.0.1
+Summary: A visual benchmark suite for rope, cable, and Cosserat rod simulation.
+Author: Jake Van Slyke
+License-Expression: Apache-2.0
+License-File: LICENSE
+Requires-Dist: numpy>=1.24
+Requires-Dist: cosseratbench[pyelastica,mujoco] ; extra == 'all'
+Requires-Dist: mujoco>=3.2 ; extra == 'mujoco'
+Requires-Dist: pyelastica>=1.0 ; extra == 'pyelastica'
+Requires-Python: >=3.10
+Project-URL: Repository, https://github.com/jakeryderv/cosseratbench
+Provides-Extra: all
+Provides-Extra: mujoco
+Provides-Extra: pyelastica
+Description-Content-Type: text/markdown
+
+# cosseratbench
+
+***A visual benchmark suite for evaluating rope, cable, and Cosserat rod simulation across deformation, contact, and dynamic stress cases.***
+
+| #  | Experiment                         | What it tests                                                           |
+| -- | ---------------------------------- | ----------------------------------------------------------------------- |
+| 1  | **Twist → plectoneme / knot**      | twist, bending, buckling, extreme curvature, self-contact               |
+| 2  | **Rope drop / pile**               | gravity, friction, chaotic self-contact, many simultaneous contacts     |
+| 3  | **Catenary / hanging cable**       | basic gravity, tension, sag, stretch; good sanity/validation case       |
+| 4  | **Cantilever bend + twist**        | isolated bending stiffness, torsion, large deformation                  |
+| 5  | **Pendulum / swinging cable**      | dynamics, inertia, damping, oscillation                                 |
+| 6  | **Snap / whip test**               | very fast motion, high curvature, timestep stability                    |
+| 7  | **Cylinder wrap / capstan**        | rod-cylinder contact, friction, sliding, tension transfer               |
+| 8  | **Pulley / sheave**                | moving contact, bending around small radius, tension under motion       |
+| 9  | **Obstacle course**                | repeated contact against cylinders/planes/spheres, sliding and snagging |
+| 10 | **Two-rope interaction**           | rod-rod contact, crossing, rubbing, entanglement                        |
+| 11 | **Loop / knot tightening**         | persistent dense self-contact and friction under increasing tension     |
+| 12 | **Compression / coiling**          | rope pushed into a confined area; buckling and pile formation           |
+| 13 | **Container packing**              | rope fed into a box/cylinder; dense 3D self-contact                     |
+| 14 | **Parameter/extreme stress sweep** | deliberately push stiffness, friction, speed, resolution, timestep      |
+
+## Status
+
+Early. Two experiments (catenary, cantilever) run against two solvers
+([PyElastica](https://github.com/GazzolaLab/PyElastica) and
+[MuJoCo](https://mujoco.org)'s cable plugin), each scored against an analytical
+reference. Contact, driven boundaries and the web viewer are not built yet.
+
+## Usage
+
+```sh
+uv sync --all-extras        # from a clone; installs both solver backends
+uv run cosseratbench list
+uv run cosseratbench run    # every experiment x every solver, saved under results/
+uv run cosseratbench run catenary --solver pyelastica --n-elements 100
+```
+
+Each run writes `results/<experiment>/<solver>/result.json` (metrics, wall time)
+and `trajectory.npz` (node positions over time).
+
+## How it fits together
+
+- A **scenario** describes the physics and nothing else: geometry, material,
+  boundary conditions, loads, gravity, duration, all in SI units. Time steps,
+  element counts, contact stiffnesses and damping coefficients are not part of
+  it; they are each solver's business.
+- A **solver** adapter turns a scenario into a **trajectory**, node positions
+  over time, at a requested resolution. It declares the physics it models
+  (`Capability`), and an experiment that needs more is reported as unsupported
+  rather than run.
+- An **experiment** pairs a scenario with **metrics**. Metrics see only the
+  scenario and the trajectory, so every solver is judged by the same code.
+
+## Adding a solver or an experiment
+
+Both are discovered through entry points, so they can live in your own package:
+
+```toml
+[project.entry-points."cosseratbench.solvers"]
+mysolver = "mypackage.adapter:MySolver"
+
+[project.entry-points."cosseratbench.experiments"]
+myexperiment = "mypackage.experiments:my_experiment"
+```
+
+```python
+from cosseratbench import Capability, Scenario, Trajectory
+
+
+class MySolver:
+    name = "mysolver"
+    capabilities = frozenset({Capability.STRETCH})
+
+    def run(self, scenario: Scenario, *, n_elements: int, n_frames: int) -> Trajectory: ...
+```
+
+The built-in solvers and experiments register the same way; see
+`src/cosseratbench/solvers` and `src/cosseratbench/experiments`.
+

cosseratbench-0.0.1/README.md

@@ -0,0 +1,79 @@
+# cosseratbench
+
+***A visual benchmark suite for evaluating rope, cable, and Cosserat rod simulation across deformation, contact, and dynamic stress cases.***
+
+| #  | Experiment                         | What it tests                                                           |
+| -- | ---------------------------------- | ----------------------------------------------------------------------- |
+| 1  | **Twist → plectoneme / knot**      | twist, bending, buckling, extreme curvature, self-contact               |
+| 2  | **Rope drop / pile**               | gravity, friction, chaotic self-contact, many simultaneous contacts     |
+| 3  | **Catenary / hanging cable**       | basic gravity, tension, sag, stretch; good sanity/validation case       |
+| 4  | **Cantilever bend + twist**        | isolated bending stiffness, torsion, large deformation                  |
+| 5  | **Pendulum / swinging cable**      | dynamics, inertia, damping, oscillation                                 |
+| 6  | **Snap / whip test**               | very fast motion, high curvature, timestep stability                    |
+| 7  | **Cylinder wrap / capstan**        | rod-cylinder contact, friction, sliding, tension transfer               |
+| 8  | **Pulley / sheave**                | moving contact, bending around small radius, tension under motion       |
+| 9  | **Obstacle course**                | repeated contact against cylinders/planes/spheres, sliding and snagging |
+| 10 | **Two-rope interaction**           | rod-rod contact, crossing, rubbing, entanglement                        |
+| 11 | **Loop / knot tightening**         | persistent dense self-contact and friction under increasing tension     |
+| 12 | **Compression / coiling**          | rope pushed into a confined area; buckling and pile formation           |
+| 13 | **Container packing**              | rope fed into a box/cylinder; dense 3D self-contact                     |
+| 14 | **Parameter/extreme stress sweep** | deliberately push stiffness, friction, speed, resolution, timestep      |
+
+## Status
+
+Early. Two experiments (catenary, cantilever) run against two solvers
+([PyElastica](https://github.com/GazzolaLab/PyElastica) and
+[MuJoCo](https://mujoco.org)'s cable plugin), each scored against an analytical
+reference. Contact, driven boundaries and the web viewer are not built yet.
+
+## Usage
+
+```sh
+uv sync --all-extras        # from a clone; installs both solver backends
+uv run cosseratbench list
+uv run cosseratbench run    # every experiment x every solver, saved under results/
+uv run cosseratbench run catenary --solver pyelastica --n-elements 100
+```
+
+Each run writes `results/<experiment>/<solver>/result.json` (metrics, wall time)
+and `trajectory.npz` (node positions over time).
+
+## How it fits together
+
+- A **scenario** describes the physics and nothing else: geometry, material,
+  boundary conditions, loads, gravity, duration, all in SI units. Time steps,
+  element counts, contact stiffnesses and damping coefficients are not part of
+  it; they are each solver's business.
+- A **solver** adapter turns a scenario into a **trajectory**, node positions
+  over time, at a requested resolution. It declares the physics it models
+  (`Capability`), and an experiment that needs more is reported as unsupported
+  rather than run.
+- An **experiment** pairs a scenario with **metrics**. Metrics see only the
+  scenario and the trajectory, so every solver is judged by the same code.
+
+## Adding a solver or an experiment
+
+Both are discovered through entry points, so they can live in your own package:
+
+```toml
+[project.entry-points."cosseratbench.solvers"]
+mysolver = "mypackage.adapter:MySolver"
+
+[project.entry-points."cosseratbench.experiments"]
+myexperiment = "mypackage.experiments:my_experiment"
+```
+
+```python
+from cosseratbench import Capability, Scenario, Trajectory
+
+
+class MySolver:
+    name = "mysolver"
+    capabilities = frozenset({Capability.STRETCH})
+
+    def run(self, scenario: Scenario, *, n_elements: int, n_frames: int) -> Trajectory: ...
+```
+
+The built-in solvers and experiments register the same way; see
+`src/cosseratbench/solvers` and `src/cosseratbench/experiments`.
+

cosseratbench-0.0.1/pyproject.toml

@@ -0,0 +1,48 @@
+[project]
+name = "cosseratbench"
+version = "0.0.1"
+description = "A visual benchmark suite for rope, cable, and Cosserat rod simulation."
+readme = "README.md"
+license = "Apache-2.0"
+license-files = ["LICENSE"]
+requires-python = ">=3.10"
+dependencies = ["numpy>=1.24"]
+
+[[project.authors]]
+name = "Jake Van Slyke"
+
+[project.optional-dependencies]
+pyelastica = ["pyelastica>=1.0"]
+mujoco = ["mujoco>=3.2"]
+all = ["cosseratbench[pyelastica,mujoco]"]
+
+[project.urls]
+Repository = "https://github.com/jakeryderv/cosseratbench"
+
+[project.scripts]
+cosseratbench = "cosseratbench.cli:main"
+
+[project.entry-points."cosseratbench.solvers"]
+pyelastica = "cosseratbench.solvers.pyelastica:PyElasticaSolver"
+mujoco = "cosseratbench.solvers.mujoco:MuJoCoSolver"
+
+[project.entry-points."cosseratbench.experiments"]
+catenary = "cosseratbench.experiments.catenary:catenary"
+cantilever = "cosseratbench.experiments.cantilever:cantilever"
+
+[dependency-groups]
+dev = [
+    "pytest>=8",
+    "ruff>=0.6",
+]
+
+[build-system]
+requires = ["uv_build>=0.12.11,<0.13.0"]
+build-backend = "uv_build"
+
+[tool.ruff]
+line-length = 100
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]
+markers = ["slow: runs a full simulation"]

cosseratbench-0.0.1/pyproject.toml.orig

@@ -0,0 +1,45 @@
+[project]
+name = "cosseratbench"
+version = "0.0.1"
+description = "A visual benchmark suite for rope, cable, and Cosserat rod simulation."
+readme = "README.md"
+license = "Apache-2.0"
+license-files = ["LICENSE"]
+authors = [{ name = "Jake Van Slyke" }]
+requires-python = ">=3.10"
+dependencies = ["numpy>=1.24"]
+
+[project.optional-dependencies]
+pyelastica = ["pyelastica>=1.0"]
+mujoco = ["mujoco>=3.2"]
+all = ["cosseratbench[pyelastica,mujoco]"]
+
+[project.urls]
+Repository = "https://github.com/jakeryderv/cosseratbench"
+
+[project.scripts]
+cosseratbench = "cosseratbench.cli:main"
+
+# Built-in solvers and experiments register through the same entry points
+# that third-party packages use.
+[project.entry-points."cosseratbench.solvers"]
+pyelastica = "cosseratbench.solvers.pyelastica:PyElasticaSolver"
+mujoco = "cosseratbench.solvers.mujoco:MuJoCoSolver"
+
+[project.entry-points."cosseratbench.experiments"]
+catenary = "cosseratbench.experiments.catenary:catenary"
+cantilever = "cosseratbench.experiments.cantilever:cantilever"
+
+[dependency-groups]
+dev = ["pytest>=8", "ruff>=0.6"]
+
+[build-system]
+requires = ["uv_build>=0.12.11,<0.13.0"]
+build-backend = "uv_build"
+
+[tool.ruff]
+line-length = 100
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]
+markers = ["slow: runs a full simulation"]

cosseratbench-0.0.1/src/cosseratbench/__init__.py

@@ -0,0 +1,22 @@
+"""A benchmark suite for rope, cable, and Cosserat rod simulation."""
+
+from cosseratbench.experiment import Experiment, Metric, Result, run
+from cosseratbench.scenario import End, EndCondition, Material, PointLoad, Rod, Scenario
+from cosseratbench.solver import Capability, Solver
+from cosseratbench.trajectory import Trajectory
+
+__all__ = [
+    "Capability",
+    "End",
+    "EndCondition",
+    "Experiment",
+    "Material",
+    "Metric",
+    "PointLoad",
+    "Result",
+    "Rod",
+    "Scenario",
+    "Solver",
+    "Trajectory",
+    "run",
+]

cosseratbench-0.0.1/src/cosseratbench/cli.py

@@ -0,0 +1,70 @@
+"""Command line entry point: ``cosseratbench list`` and ``cosseratbench run``."""
+
+from __future__ import annotations
+
+import argparse
+from pathlib import Path
+
+from cosseratbench import registry
+from cosseratbench.experiment import Result, run
+
+
+def _describe(result: Result) -> str:
+    if result.missing:
+        return "unsupported (needs " + ", ".join(result.missing) + ")"
+    if result.failure:
+        return f"failed: {result.failure}"
+    metrics = "  ".join(f"{name}={value:.3e}" for name, value in result.metrics.items())
+    return f"{result.wall_time:6.1f}s  {metrics}"
+
+
+def _list(_: argparse.Namespace) -> None:
+    print("experiments:")
+    for name in registry.names(registry.EXPERIMENTS):
+        print(f"  {name:12s} {registry.load_experiment(name).description}")
+    print("solvers:")
+    for name in registry.names(registry.SOLVERS):
+        print(f"  {name}")
+
+
+def _run(args: argparse.Namespace) -> None:
+    experiments = args.experiment or registry.names(registry.EXPERIMENTS)
+    solvers = args.solver or registry.names(registry.SOLVERS)
+    for experiment_name in experiments:
+        experiment = registry.load_experiment(experiment_name)
+        for solver_name in solvers:
+            try:
+                solver = registry.load_solver(solver_name)
+            except ImportError as error:
+                print(f"{experiment_name:12s} {solver_name:12s} not installed ({error.name})")
+                continue
+            result = run(experiment, solver, n_elements=args.n_elements)
+            result.save(args.out / experiment_name / solver_name)
+            print(
+                f"{experiment_name:12s} {solver_name:12s} n={result.n_elements:<4d} {_describe(result)}"
+            )
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(prog="cosseratbench", description=__doc__)
+    commands = parser.add_subparsers(required=True)
+
+    commands.add_parser("list", help="show registered experiments and solvers").set_defaults(
+        func=_list
+    )
+
+    run_parser = commands.add_parser("run", help="run experiments and save results")
+    run_parser.add_argument("experiment", nargs="*", help="experiments to run (default: all)")
+    run_parser.add_argument(
+        "-s", "--solver", action="append", help="solver to use; repeatable (default: all)"
+    )
+    run_parser.add_argument(
+        "-n", "--n-elements", type=int, help="elements per rod (default: per experiment)"
+    )
+    run_parser.add_argument(
+        "-o", "--out", type=Path, default=Path("results"), help="output directory"
+    )
+    run_parser.set_defaults(func=_run)
+
+    args = parser.parse_args()
+    args.func(args)

cosseratbench-0.0.1/src/cosseratbench/experiment.py

@@ -0,0 +1,112 @@
+"""An experiment pairs a scenario with the metrics that judge a solver's trajectory."""
+
+from __future__ import annotations
+
+import json
+import time
+from collections.abc import Callable, Mapping
+from dataclasses import dataclass, field
+from pathlib import Path
+
+import numpy as np
+
+from cosseratbench.scenario import Scenario
+from cosseratbench.solver import Capability, Solver
+from cosseratbench.trajectory import Trajectory
+
+# Metrics see only the scenario and the trajectory, never the solver, so every
+# solver is judged by the same code.
+Metric = Callable[[Scenario, Trajectory], float]
+
+
+@dataclass(frozen=True)
+class Experiment:
+    name: str
+    description: str
+    scenario: Scenario
+    metrics: Mapping[str, Metric]
+    requires: frozenset[Capability] = frozenset()
+    n_elements: int = 50  # default resolution
+
+
+@dataclass(frozen=True)
+class Result:
+    experiment: str
+    solver: str
+    n_elements: int
+    # Capabilities the experiment requires and the solver lacks; if any, it was not run.
+    missing: tuple[str, ...] = ()
+    failure: str | None = None  # why the run produced no usable trajectory
+    wall_time: float | None = None  # s
+    metrics: Mapping[str, float] = field(default_factory=dict)
+    trajectory: Trajectory | None = None
+
+    @property
+    def supported(self) -> bool:
+        return not self.missing
+
+    def save(self, directory: Path) -> None:
+        directory.mkdir(parents=True, exist_ok=True)
+        summary = {
+            "experiment": self.experiment,
+            "solver": self.solver,
+            "n_elements": self.n_elements,
+            "missing": list(self.missing),
+            "failure": self.failure,
+            "wall_time": self.wall_time,
+            "metrics": dict(self.metrics),
+        }
+        (directory / "result.json").write_text(json.dumps(summary, indent=2) + "\n")
+        if self.trajectory is not None:
+            self.trajectory.save(directory / "trajectory.npz")
+
+
+def _divergence(scenario: Scenario, trajectory: Trajectory) -> str | None:
+    """A solver can go unstable without producing NaNs or raising, so judge the
+    trajectory itself: no real rod here doubles the length of one of its segments."""
+    for index, positions in enumerate(trajectory.positions):
+        if not np.isfinite(positions).all():
+            return f"rod {index} has non-finite positions"
+        segments = np.linalg.norm(np.diff(positions, axis=1), axis=2)
+        stretch = float((segments / segments[0]).max())
+        if stretch > 2.0:
+            return f"rod {index} has a segment stretched {stretch:.3g}x"
+    return None
+
+
+def run(
+    experiment: Experiment,
+    solver: Solver,
+    *,
+    n_elements: int | None = None,
+    n_frames: int = 101,
+) -> Result:
+    n_elements = n_elements or experiment.n_elements
+    missing = experiment.requires - solver.capabilities
+    if missing:
+        names = tuple(sorted(c.value for c in missing))
+        return Result(experiment.name, solver.name, n_elements, missing=names)
+
+    started = time.perf_counter()
+    try:
+        trajectory = solver.run(experiment.scenario, n_elements=n_elements, n_frames=n_frames)
+        failure = _divergence(experiment.scenario, trajectory)
+    except FloatingPointError as error:
+        failure = str(error)
+    wall_time = time.perf_counter() - started
+    if failure:
+        return Result(
+            experiment.name, solver.name, n_elements, failure=failure, wall_time=wall_time
+        )
+
+    metrics = {
+        name: float(m(experiment.scenario, trajectory)) for name, m in experiment.metrics.items()
+    }
+    return Result(
+        experiment.name,
+        solver.name,
+        n_elements,
+        wall_time=wall_time,
+        metrics=metrics,
+        trajectory=trajectory,
+    )