sci-solver 0.1.0__tar.gz

sci_solver-0.1.0/CITATION.cff

@@ -0,0 +1,11 @@
+cff-version: 1.2.0
+message: "If you use SCI Solver, please cite this software and the accompanying paper when available."
+type: software
+title: "SCI: Sequential Contact Insertion"
+authors:
+  - family-names: Kamm
+    given-names: Jan
+version: 0.1.0
+license: Apache-2.0
+repository-code: "https://github.com/jankammeth/sci"
+abstract: "Continuous-time robot fleet planning with sequential contact insertion."

sci_solver-0.1.0/LICENSE

@@ -0,0 +1,202 @@
+
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sci_solver-0.1.0/MANIFEST.in

@@ -0,0 +1,7 @@
+include LICENSE NOTICE CITATION.cff UPSTREAM.json
+recursive-include docs *.md
+recursive-include examples *.py *.json
+recursive-include tests *.py *.npz
+recursive-include tools *.py
+recursive-include validation *.json
+include src/sci_solver/solvers/_cubic_minima.c

sci_solver-0.1.0/NOTICE

@@ -0,0 +1,10 @@
+SCI — Sequential Contact Insertion
+Copyright 2026 Jan Kamm
+
+This distribution derives from https://github.com/jankammeth/contact-solver,
+commit 641a2341a6a59938e285b8ff872bd484713e0605, whose package metadata declares
+Apache-2.0. UPSTREAM.json identifies the unchanged numerical source files.
+
+Packaging, configuration, and convenience API changes are recorded in this
+repository. Historical experiments remain in the source repository and the
+associated paper repository.

sci_solver-0.1.0/PKG-INFO

@@ -0,0 +1,141 @@
+Metadata-Version: 2.4
+Name: sci-solver
+Version: 0.1.0
+Summary: Sequential Contact Insertion for continuous-time robot fleet planning.
+Author: Jan Kamm
+License-Expression: Apache-2.0
+Project-URL: Homepage, https://github.com/jankammeth/sci
+Project-URL: Repository, https://github.com/jankammeth/sci
+Project-URL: Documentation, https://github.com/jankammeth/sci/tree/main/docs
+Project-URL: Issues, https://github.com/jankammeth/sci/issues
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Science/Research
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: C
+Classifier: Topic :: Scientific/Engineering
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+License-File: NOTICE
+Requires-Dist: numpy>=1.23
+Requires-Dist: scipy>=1.10
+Provides-Extra: plot
+Requires-Dist: matplotlib>=3.7; extra == "plot"
+Provides-Extra: dev
+Requires-Dist: pytest>=8; extra == "dev"
+Requires-Dist: ruff>=0.6; extra == "dev"
+Dynamic: license-file
+
+# SCI — Sequential Contact Insertion
+
+Continuous-time motion planning for robot fleets, using analytic cubic trajectories
+and a progressively constructed set of contacts.
+
+SCI plans for at least two robots in two or more spatial dimensions with prescribed
+endpoint positions and velocities, a fixed horizon, and a shared minimum pairwise
+distance. It minimizes squared acceleration through local contact matching and
+checks separation over the entire trajectory.
+
+## Installation
+
+Python 3.10 or newer is required. After the first PyPI release:
+
+```sh
+pip install sci-solver
+```
+
+To install directly from GitHub now:
+
+```sh
+python -m pip install git+https://github.com/jankammeth/sci.git
+```
+
+Or install a local checkout:
+
+```sh
+python -m pip install .
+```
+
+NumPy and SciPy are the only runtime dependencies. Supported binary wheels include
+the C collision checker. A source installation builds it when a C compiler is
+available; otherwise it uses the slower Python checker and emits a warning on use.
+The chosen backend is reported in `solution.metrics["collision_backend"]`.
+
+## Quick start
+
+```python
+import numpy as np
+from sci_solver import SolverConfig, solve
+
+solution = solve(
+    initial_positions=[[-2, -0.2], [2, 0.2]],
+    final_positions=[[2, -0.2], [-2, 0.2]],
+    time_horizon=5.0,
+    min_distance=1.0,
+    options=SolverConfig(sci_detection_tol=1e-6),
+)
+if not solution.success:
+    raise RuntimeError(solution.metrics["convergence_reason"])
+
+times = np.linspace(0, 5, 201)
+positions = solution.sample(times)              # (2 robots, 201 times, 2 dimensions)
+velocities = solution.sample(times, derivative=1)
+print(solution.acceleration_cost)
+print(solution.metrics["min_distance"])
+```
+
+Omitted endpoint velocities are zero. Sampling is postprocessing and does not
+determine whether a trajectory passes separation checks. `solution.contacts`
+contains the solved contact states, and `solution.trajectory` exposes the cubic
+coefficients and knot times.
+
+## Examples
+
+```sh
+python -m pip install '.[plot]'
+python examples/two_robots.py --output outputs/two-robots.png
+python examples/fleet.py --output outputs/fleet.png
+sci-solve --smoke --output outputs/smoke.json
+```
+
+The plotting dependency is optional. Both examples also run without plotting when
+`--output` is omitted. The CLI accepts saved NPZ endpoint states and a JSON config;
+see [the API guide](docs/api.md).
+
+## Numerical scope
+
+The solver uses the current contact insertion, contact removal, banded Newton,
+sparse fallback, and condensed reaction recovery implementation. It is a local
+numerical method: convergence and global optimality are not guaranteed. The
+continuous collision checks use floating-point polynomial calculations, rather
+than interval-arithmetic certificates. Obstacles and finite position, velocity,
+acceleration, or jerk bounds are outside this release's scope.
+
+Always inspect `solution.success`. An unsuccessful solve retains its last iterate
+and diagnostics; it is not a usable collision-free plan. Tolerances are absolute
+and should be chosen for the physical scale of the problem. The reference default
+separation allowance is zero; the examples explicitly use `1e-6`.
+
+## Development and provenance
+
+```sh
+python -m pip install -e '.[dev,plot]'
+python -m pytest
+ruff check .
+```
+
+The numerical implementation is preserved from
+[`contact-solver` at `641a234`](https://github.com/jankammeth/contact-solver/tree/641a2341a6a59938e285b8ff872bd484713e0605).
+[UPSTREAM.json](UPSTREAM.json) records source paths, SHA-256 hashes, and every
+extraction edit. Six core files are byte-identical. The collision wrapper changes
+only the package name in its fallback warning; the C kernel adds equivalent
+stack workspace allocation for Microsoft's C compiler. Numerical formulas and
+control flow are unchanged.
+[The migration guide](docs/migration.md) describes the extraction and comparison
+procedure. The paper and historical experiment infrastructure remain separate.
+
+This software accompanies *Contact-based motion planning for robot fleets*.
+Software citation metadata is in [CITATION.cff](CITATION.cff). Publication metadata
+for the manuscript will be added when available.
+
+Licensed under Apache-2.0; see [LICENSE](LICENSE) and [NOTICE](NOTICE).

sci_solver-0.1.0/README.md

@@ -0,0 +1,113 @@
+# SCI — Sequential Contact Insertion
+
+Continuous-time motion planning for robot fleets, using analytic cubic trajectories
+and a progressively constructed set of contacts.
+
+SCI plans for at least two robots in two or more spatial dimensions with prescribed
+endpoint positions and velocities, a fixed horizon, and a shared minimum pairwise
+distance. It minimizes squared acceleration through local contact matching and
+checks separation over the entire trajectory.
+
+## Installation
+
+Python 3.10 or newer is required. After the first PyPI release:
+
+```sh
+pip install sci-solver
+```
+
+To install directly from GitHub now:
+
+```sh
+python -m pip install git+https://github.com/jankammeth/sci.git
+```
+
+Or install a local checkout:
+
+```sh
+python -m pip install .
+```
+
+NumPy and SciPy are the only runtime dependencies. Supported binary wheels include
+the C collision checker. A source installation builds it when a C compiler is
+available; otherwise it uses the slower Python checker and emits a warning on use.
+The chosen backend is reported in `solution.metrics["collision_backend"]`.
+
+## Quick start
+
+```python
+import numpy as np
+from sci_solver import SolverConfig, solve
+
+solution = solve(
+    initial_positions=[[-2, -0.2], [2, 0.2]],
+    final_positions=[[2, -0.2], [-2, 0.2]],
+    time_horizon=5.0,
+    min_distance=1.0,
+    options=SolverConfig(sci_detection_tol=1e-6),
+)
+if not solution.success:
+    raise RuntimeError(solution.metrics["convergence_reason"])
+
+times = np.linspace(0, 5, 201)
+positions = solution.sample(times)              # (2 robots, 201 times, 2 dimensions)
+velocities = solution.sample(times, derivative=1)
+print(solution.acceleration_cost)
+print(solution.metrics["min_distance"])
+```
+
+Omitted endpoint velocities are zero. Sampling is postprocessing and does not
+determine whether a trajectory passes separation checks. `solution.contacts`
+contains the solved contact states, and `solution.trajectory` exposes the cubic
+coefficients and knot times.
+
+## Examples
+
+```sh
+python -m pip install '.[plot]'
+python examples/two_robots.py --output outputs/two-robots.png
+python examples/fleet.py --output outputs/fleet.png
+sci-solve --smoke --output outputs/smoke.json
+```
+
+The plotting dependency is optional. Both examples also run without plotting when
+`--output` is omitted. The CLI accepts saved NPZ endpoint states and a JSON config;
+see [the API guide](docs/api.md).
+
+## Numerical scope
+
+The solver uses the current contact insertion, contact removal, banded Newton,
+sparse fallback, and condensed reaction recovery implementation. It is a local
+numerical method: convergence and global optimality are not guaranteed. The
+continuous collision checks use floating-point polynomial calculations, rather
+than interval-arithmetic certificates. Obstacles and finite position, velocity,
+acceleration, or jerk bounds are outside this release's scope.
+
+Always inspect `solution.success`. An unsuccessful solve retains its last iterate
+and diagnostics; it is not a usable collision-free plan. Tolerances are absolute
+and should be chosen for the physical scale of the problem. The reference default
+separation allowance is zero; the examples explicitly use `1e-6`.
+
+## Development and provenance
+
+```sh
+python -m pip install -e '.[dev,plot]'
+python -m pytest
+ruff check .
+```
+
+The numerical implementation is preserved from
+[`contact-solver` at `641a234`](https://github.com/jankammeth/contact-solver/tree/641a2341a6a59938e285b8ff872bd484713e0605).
+[UPSTREAM.json](UPSTREAM.json) records source paths, SHA-256 hashes, and every
+extraction edit. Six core files are byte-identical. The collision wrapper changes
+only the package name in its fallback warning; the C kernel adds equivalent
+stack workspace allocation for Microsoft's C compiler. Numerical formulas and
+control flow are unchanged.
+[The migration guide](docs/migration.md) describes the extraction and comparison
+procedure. The paper and historical experiment infrastructure remain separate.
+
+This software accompanies *Contact-based motion planning for robot fleets*.
+Software citation metadata is in [CITATION.cff](CITATION.cff). Publication metadata
+for the manuscript will be added when available.
+
+Licensed under Apache-2.0; see [LICENSE](LICENSE) and [NOTICE](NOTICE).

sci_solver-0.1.0/UPSTREAM.json

@@ -0,0 +1,62 @@
+{
+  "upstream_repository": "https://github.com/jankammeth/contact-solver",
+  "upstream_commit": "641a2341a6a59938e285b8ff872bd484713e0605",
+  "core_files": {
+    "src/sci_solver/solvers/base.py": {
+      "upstream_path": "src/contact_solver/solvers/base.py",
+      "sha256": "a3d1e66c04f57d69eb7fb9eb0416d77ce60c9360e9448c22b3c4da3ff7080a30",
+      "extracted_sha256": "a3d1e66c04f57d69eb7fb9eb0416d77ce60c9360e9448c22b3c4da3ff7080a30"
+    },
+    "src/sci_solver/solvers/contact_solver.py": {
+      "upstream_path": "src/contact_solver/solvers/contact_solver.py",
+      "sha256": "9ae40bc11838b8fc0ca76f439f21af878d27669f3d3440bfd8519196e624b7a1",
+      "extracted_sha256": "9ae40bc11838b8fc0ca76f439f21af878d27669f3d3440bfd8519196e624b7a1"
+    },
+    "src/sci_solver/solvers/collision_search.py": {
+      "upstream_path": "src/contact_solver/solvers/collision_search.py",
+      "sha256": "d02cf8b7a045a7b8edf964072d52a42f23e590e1bb50453f02b1ca230ce855f3",
+      "extracted_sha256": "9667839d4a5a724591de4540ffaa7eb607f88c6803aff7981ea46a702ee34c3c",
+      "text_replacements": [
+        {
+          "old": "Reinstall contact-solver",
+          "new": "Reinstall sci-solver"
+        }
+      ]
+    },
+    "src/sci_solver/solvers/cubic_utils.py": {
+      "upstream_path": "src/contact_solver/solvers/cubic_utils.py",
+      "sha256": "198ed08248d1648f0c196ed346a3a0a3e139662d728e98ef42f1701d40971a18",
+      "extracted_sha256": "198ed08248d1648f0c196ed346a3a0a3e139662d728e98ef42f1701d40971a18"
+    },
+    "src/sci_solver/solvers/matching_numerics.py": {
+      "upstream_path": "src/contact_solver/solvers/matching_numerics.py",
+      "sha256": "e10f5dbf0747163754355cdffd62b9067b2dea82a31d72222e368f67f7a8cd66",
+      "extracted_sha256": "e10f5dbf0747163754355cdffd62b9067b2dea82a31d72222e368f67f7a8cd66"
+    },
+    "src/sci_solver/solvers/reaction_matching.py": {
+      "upstream_path": "src/contact_solver/solvers/reaction_matching.py",
+      "sha256": "6efdce28648e49c9418f1a42da3d93cb4636112c561e9da3f9c29a64fc3b7b70",
+      "extracted_sha256": "6efdce28648e49c9418f1a42da3d93cb4636112c561e9da3f9c29a64fc3b7b70"
+    },
+    "src/sci_solver/solvers/vector_matching.py": {
+      "upstream_path": "src/contact_solver/solvers/vector_matching.py",
+      "sha256": "326ffe29e94e4f5e080d4224fd7ab4fb4d38a14789ab9345d5985232c3b9d358",
+      "extracted_sha256": "326ffe29e94e4f5e080d4224fd7ab4fb4d38a14789ab9345d5985232c3b9d358"
+    },
+    "src/sci_solver/solvers/_cubic_minima.c": {
+      "upstream_path": "src/contact_solver/solvers/_cubic_minima.c",
+      "sha256": "02cd37c047bc0df602ff8da1a64c1a80ca926b3519bf584fd8d8879f7dacba9e",
+      "extracted_sha256": "7b2730c03652ae121191a81ef22e31a9283bc3f779f3e6a5465d14d947e32a97",
+      "text_replacements": [
+        {
+          "old": "#include <stdlib.h>\n",
+          "new": "#include <stdlib.h>\n#ifdef _MSC_VER\n#include <malloc.h>\n#endif\n"
+        },
+        {
+          "old": "    double controls[4*d],direction[d],delta[d],sq=0,dot=0,magnitude=0;\n",
+          "new": "#ifdef _MSC_VER\n    /* MSVC has no C variable-length arrays; retain the same stack workspace. */\n    double *controls=_alloca((size_t)4*d*sizeof(double));\n    double *direction=_alloca((size_t)d*sizeof(double));\n    double *delta=_alloca((size_t)d*sizeof(double));\n    double sq=0,dot=0,magnitude=0;\n#else\n    double controls[4*d],direction[d],delta[d],sq=0,dot=0,magnitude=0;\n#endif\n"
+        }
+      ]
+    }
+  }
+}

sci_solver-0.1.0/docs/api.md

@@ -0,0 +1,62 @@
+# API and numerical options
+
+`solve(initial_positions, final_positions, *, time_horizon, min_distance,
+initial_velocities=None, final_velocities=None, options=None)` returns a `Solution`.
+Endpoint arrays have shape `(N, d)` with `N >= 2` and `d >= 2`.
+
+## Results
+
+| Member | Meaning |
+| --- | --- |
+| `success` | Matching checks and continuous separation both passed. |
+| `sample(times, derivative=0)` | Array with shape `(N, len(times), d)`; derivative orders 0–3. |
+| `trajectory` | Knot times, relative cubic coefficients, and barycenter coefficients. |
+| `contacts` | Pair indices, times, normals, relative velocities, and reaction masses. |
+| `acceleration_cost` | Integrated sum of squared robot accelerations. |
+| `metrics` | Status, reason, residuals, separation, backend, timing, and recovery details. |
+
+Times may be unordered but must be finite and inside the horizon. At a contact,
+the third derivative uses the segment to its right; the final endpoint uses the
+last segment. Orders 0–2 are continuous up to the matching tolerance.
+
+## Options
+
+Pass `SolverConfig(...)` through `options`. Defaults match the reference implementation.
+
+| Option | Default | Meaning |
+| --- | --- | --- |
+| `sci_detection_tol` | `0.0` | Allowed absolute separation deficit. |
+| `sci_residual_tol` | `1e-7` | Matching and endpoint residual tolerance. |
+| `sci_mass_tol` | `1e-9` | Allowed negative reaction mass within tolerance. |
+| `sci_min_contact_gap` | `0.0` | Minimum knot gap; zero still requires strict ordering. |
+| `sci_root_max_iterations` | `100` | Newton iterations per matching solve. |
+| `sci_reaction_recovery` | `True` | Enable condensed recovery when matching fails. |
+| `timeout` | `300.0` | Cooperative solve deadline in seconds. |
+| `use_analytical_jacobian` | `True` | Use the analytical matching Jacobian. |
+
+Statuses are `success`, `unresolved`, `root_failure`, and `invalid_solution`.
+`metrics["convergence_reason"]` supplies details. Unsuccessful iterates remain
+available for diagnosis. The deadline is checked between numerical operations;
+it does not interrupt an in-progress linear solve.
+
+For direct control, use `Config`, `ProblemConfig`, and `ContactSolver`, followed by
+`set_initial_states`, `set_final_states`, and `generate_trajectories`. This retains
+the reference interface. Its `ProblemConfig.timestep` is a legacy configuration
+field used by automatic horizon selection when the horizon is omitted; it does
+not discretize contact matching or collision checking. The convenience `solve`
+function requires an explicit horizon.
+
+## Saved problems
+
+```sh
+sci-solve --states endpoints.npz --config examples/config.json \
+  --output outputs/metrics.json --trajectories outputs/trajectories.npz
+```
+
+Input NPZ keys are `initial_positions`, `final_positions`, and optionally
+`initial_velocities`, `final_velocities`. JSON configuration uses `problem` and
+`solver` objects; unknown fields are rejected. `Config.to_json` and
+`Config.from_json` support roundtrips without a YAML dependency.
+
+The CLI exits zero only for a successful solve. Sampled output includes times,
+positions, velocities, accelerations, contact states, and contact pairs.

sci_solver-0.1.0/docs/migration.md

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+# Extraction from contact-solver
+
+Reference: `https://github.com/jankammeth/contact-solver`, commit
+`641a2341a6a59938e285b8ff872bd484713e0605`.
+
+Six of the eight files listed in `UPSTREAM.json` are byte-identical to the
+reference. The collision wrapper changes only `contact-solver` to `sci-solver`
+in the reinstall warning. The C kernel uses `_alloca` for the same three stack
+arrays under MSVC, which does not support C variable-length arrays. Other
+compilers retain the original declarations. Numerical formulas and control flow
+are unchanged; `UPSTREAM.json` records both edits as explicit text replacements.
+They contain the joint solver, cubic representation, matching equations,
+derivatives, nonlinear solve safeguards, recovery, and collision kernels.
+The test suite retains independent polynomial, derivative, endpoint, reaction,
+contact-removal, and larger-fleet checks from that implementation.
+
+The package boundary changes from `contact_solver` to `sci_solver`; distribution
+metadata changes to `sci-solver`. The new root import exposes only the joint solver
+and its configuration/API. It does not import plotting, baselines, or scenario
+generation. Configuration uses standard dataclasses and JSON. Original YAML
+experiment configuration remains in the historical repository.
+
+`solve` and `Solution` wrap the reference class. The CLI retains its saved-state
+interface and deterministic smoke problems, with JSON replacing YAML and OSQP
+removed from the environment report. Plotting is an optional example dependency.
+
+## Numerical comparison
+
+`tools/compare_upstream.py` compares the installed package against a checkout of
+the reference commit. Install the reference package in a separate environment,
+then pass its interpreter and checkout paths. The reference environment needs
+the original package's declared dependencies.
+
+```sh
+python tools/compare_upstream.py \
+  --upstream /path/to/contact-solver \
+  --upstream-python /path/to/reference-venv/bin/python \
+  --output validation/upstream-comparison.json
+```
+
+The comparison checks source hashes, statuses, contacts, removal/recovery events,
+continuous separation, matching residuals, cost, and sampled derivatives. Timing
+is recorded as environment-dependent evidence, not required to match. It includes
+nonzero velocities, multidimensional cases, five saved 20-robot regressions, and
+unsuccessful solves. Original and extracted solvers run in separate processes.
+
+The existing `contact-solver` repository and the paper's pinned historical submodule
+remain available for reproducibility. New joint-solver development belongs here;
+the paper integration should select a recorded SCI commit explicitly.