Add bounded paired Karman pinball VIV research driver

docs/karman_viv.md

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+# Re_D = 50 Kármán inflow: paired pinball VIV / frozen PPO demo
+
+Development experiment, frozen before results, 2026-10-31. No new production
+method, structural damping, force filter, policy training, or main merge.
+[Force-spike research index](research/moving_boundary_force_spikes.md).
+
+## Plant and structure
+
+Base `e9213dd2cc9cfed0e8487a3cf4ebdd94d23dc64d`; fixed-policy contract from
+`580397eaf83c85b233495791ecc51662a374a247`. Reuse `steady_pinball` config,
+coordinate map and exact held-force oscillator. D40, U=.005, nu=.004, MRT,
+2559 x 1022, FP32 unshifted double buffers. Regularized parabolic inlet,
+NEQ extrapolation outlet, bounce-back y walls (.5,1020.5); no BC changes.
+D20 coordinates map x'=2x, y'=.5+2(y-.5).
+Upstream cylinder (400,510.5), radius40, is static. Pinballs radius20 at
+(1200,510.5), (1252,540.5), (1252,480.5) share only transverse translation.
+Lab probes radius10 at (1600,590.5), (1600,510.5), (1600,430.5) stay fixed.
+
+One shared `Translation`, travel ±D, max wall speed .025, existing clearance
+and per-step move guards unchanged. M2: m*=2 based on all three disks,
+M=7539.8223686, fn=.000025, K=.000186037660, C=zeta=0; release y=v=0.
+Each native step uses previous-step sum(CME_y+Wen_y), then exact oscillator
+update with held force. Wall speed is interval displacement y[n+1]-y[n].
+Cover/uncover impulses are logged, never added to the selected RHS. This
+estimator remains provisional; existing spike/convergence limitations remain.
+
+## Same release state, two clocks
+
+A static precursor retains the accepted Kármán sequence: upstream+probes,
+2,048,000-step warmup, 150 x 3,200-step no-pinball target samples, add static
+pinballs/sync, second 2,048,000-step warmup. Save both DDF buffers, flags,
+clock and last instantaneous force. Construct each moving arm fresh at the
+same zero-offset geometry, check flags, copy both buffers and clock, verify
+exact copy hashes. This one-time research initialization is not a moving
+checkpoint or FSI rollback. Initial policy observation and spin are zero.
+
+Frozen model SHA256 `148240c1dcb8b11d8e5a0a9e991f6874c4e799c9744707bf0fb32a8efeb0468d`;
+normalizer `534fda818c030a56960e95d0f3ac1e350d887d03db7f80f1d6453195a502b7f0`.
+Only these explicit supplied assets are accepted. Policy is CPU deterministic.
+Native policy signals: packed CME (same `read_force` path), lab area-mean
+velocity, each averaged over SI3200. Convert to original D20 training units:
+forces x2, area-mean velocity x2 x78, then frozen force-first normalization
+and clipping. Fine-grid probe pixel footprint is not exactly identical;
+using the original78 cells avoids a hidden area-count normalization change.
+The moving plant, motion-induced force, lab-frame wake displacement and D40
+resolution remain out of training distribution. No transfer guarantee.
+
+A=(8a+(0,-4,4))*.005; EMA alpha=.9^(1/4), reset0 each SI; omega=+A_eff/20.
+This preserves historical physical actuator timescale under dt/4.
+The zero arm substitutes a=(0,.5,-.5), so all spins are identically zero.
+Policy interval averaging does **not** average the native structural RHS.
+
+## Bound, output, and interpretation
+
+One serial pair, zero then controlled: 400SI=1,280,000 native steps=160D/U
+=32Tn per arm. No retuning/automatic extension. Stop on nonfinite state,
+no_donor, travel/speed/move rejection, or four-hour whole-pair wall cap.
+A failure stops the remaining run; retain valid rows and completed intervals.
+NaN trailing rows are unexecuted, not zero-valued observations.
+
+Report first/last80D/U windows, mean offset separately from centered RMS,
+half-range, peak, frequency and drift; native versus SI-averaged force,
+CME/Wen/node/crossing terms and action/observation clipping. Last80D/U is
+the principal descriptive window, not an asserted settled window. If zero
+arm half-range <.1D there, classify weak response and do not claim vibration
+suppression. Report continuous ratios regardless. Cloaking uses retained
+canonical last30 lagged sensor DTW against this precursor's no-pinball target,
+with fixed-body D20 results contextual only. These are development criteria,
+not paper uncertainty, grid convergence, or proof of validated FSI.
+
+Save native18-column rows (~184MB/arm), small SI signals, target, config,
+release two buffers (~188MiB), hashes and terminal reports outside checkout.
+No per-step field output. Expected new data <650MB, check actual resources.
+
+```
+CUDA_VISIBLE_DEVICES=0 PYTHONPATH=src python research/karman_viv/run.py \
+  --model /tmp/celeris-karman-viv-assets/model.zip \
+  --norm /tmp/celeris-karman-viv-assets/norm.json --out /tmp/NEW_OUTPUT
+```
+
+First `--smoke`: same D40 geometry, warmup32/target2x8/warmup32,
+4x8 response steps each arm; strictly plumbing only. CPU source checks and
+independent exact-tip review precede GPU. Preserve original DynamisLab files.

docs/research/moving_boundary_force_spikes.md

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+# Moving-boundary force spikes: evidence and source index
+
+Updated 2026-10-31.
+
+This note indexes supplied audited observations and primary-source extractions.
+It does not report a newly measured cure or implement an alternative method.
+Paper details below were supplied by the parent investigation; no new source
+retrieval or independent paper verification was performed for this note.
+
+## Current implementation and interpretation
+
+- Celeris M1 reconstructs a fresh node as `feq(rho_bar, u_wall) + donor NEQ`.
+- In exact arithmetic, the donor non-equilibrium component has zero mass and
+  momentum when formed against the donor's own equilibrium moments.
+- Re-projecting that same reconstruction onto the same wall velocity therefore
+  does not, by itself, change its mass or momentum or supply a cure for spikes.
+- Floating-point residuals should be measured separately from this algebraic fact.
+- Peng's alternative differs upstream: extrapolate PDFs from three donors, then
+  replace selected moments. It is not simply another projection of current M1.
+- PPO interval-force observations and native per-step FSI right-hand-side forces
+  are distinct signals; comparisons must identify which signal is being used.
+
+## Audited run observations supplied to this note
+
+- D40 revision: `e9213dd2cc9cfed0e8487a3cf4ebdd94d23dc64d`.
+- Window: first `97.303 D/U` of physical time.
+- Maximum displacement: `max |y|/D = 0.304893`.
+- Maximum native force-coefficient increment: `max |ΔCy| = 0.66688`.
+- D20 over the same physical-time window: `max |ΔCy| = 1.80735`.
+- The largest D40 event involved 30 nodes.
+- These are supplied audited observations, not measurements made for this note.
+- Time steps and trajectories differ between runs. This comparison establishes
+  neither spatial convergence nor a unique cause for the force spikes.
+
+Evidence locations supplied by the investigation:
+
+- Horsea: `/tmp/celeris-results-pinball-resolution`.
+- Mac: `validation-evidence/pinball-force-diagnosis`.
+
+These locations index run evidence, not local copies of the cited papers.
+
+## Tao, Hu, and Guo (2016): time-step decoupling
+
+Computers & Fluids **133**, 1–14. DOI:
+[10.1016/j.compfluid.2016.04.009](https://doi.org/10.1016/j.compfluid.2016.04.009).
+[Publisher abstract](https://www.sciencedirect.com/science/article/pii/S0045793016301116).
+
+- Abstract-level support only: non-equilibrium refill reduces oscillations.
+- With local iteration, the compared refill methods give similar oscillation magnitudes.
+- Time-step decoupling reduces oscillations further in the reported sedimentation,
+  Couette, and Poiseuille examples.
+- The exact decoupling schedule and time-step ratios have not been verified.
+- This abstract does not establish equivalence to an arbitrary force filter.
+- Do not implement a claimed reproduction until the actual methods are available.
+
+## Marson et al. (2021): local iterations
+
+Physical Review E **103**, 053308. DOI:
+[10.1103/PhysRevE.103.053308](https://doi.org/10.1103/PhysRevE.103.053308).
+[Open repository record](https://archive-ouverte.unige.ch/unige:151868).
+
+- §VI, p. 18 discusses pressure waves associated with fresh nodes.
+- Appendix E.3, p. 25 and Fig. 18, p. 24 describe the local procedure.
+- Copy a local sublattice, perform local collision and streaming, write the fresh
+  nodes, and repeat before the global collision and streaming operation.
+- One to three iterations performed best in the reported tests; this is not a
+  universal iteration-count recommendation.
+- The reported smoothed torque-noise assessment is qualitative here.
+- Its thin-shell setting differs from the current moving-body configuration.
+
+## Peng (2016): extrapolation and moment replacement
+
+Computers & Mathematics with Applications **72**, 349–374. DOI:
+[10.1016/j.camwa.2015.08.027](https://doi.org/10.1016/j.camwa.2015.08.027).
+
+- §5.1.2, Eq. (50), p. 368: extrapolate PDFs along an outward normal direction:
+  `f_new(x) = 3 f(x + e) - 3 f(x + 2e) + f(x + 3e)`.
+- §5.1.3, Eq. (51): wall equilibrium plus donor non-equilibrium is the family
+  containing the current M1 reconstruction.
+- §5.1.4, Eqs. (52)–(54): in MRT space, replace momentum with `j = rho0 u_wall`,
+  preserve the other moments, then apply the inverse transform.
+- A compressible Celeris adaptation must choose the appropriate density;
+  copying the paper's `rho0` blindly is not justified.
+- Three valid donors require new eligibility checks and fallback behavior beyond
+  the current one-link shared-body clearance rule.
+- §§5.2–5.3 retain nonzero fluctuations in specific configurations; these results
+  do not promise elimination of force spikes in the present problem.
+
+## Bounded next investigation
+
+1. Retain current M1 as the baseline and compare matched prescribed trajectories
+   over matched physical-time windows.
+2. Record raw force RHS, node crossings, donor moments, mass and momentum changes,
+   impulse, spectra, and trajectory response together.
+3. Evaluate local iterations, Peng-style reconstruction, and force filtering as
+   separate interventions, with explicit definitions and diagnostics.
+4. Obtain the actual time-step-decoupling methods before implementing that method.
+
+The current task indexes evidence only; it makes no alternative-method change.

docs/steady_pinball_fiv.md

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+# Uncontrolled steady pinball: development protocol
+
+Frozen before results: 1280 x 512 D2Q9/FP32/MRT, unshifted double buffer;
+rho=1, mean U=.01, nu=.004, D=20, Re_D=50. Centres are (600,255.5),
+(626,270.5), (626,240.5), radius10. No upstream cylinder. Passive probes stay
+at (800,295.5), (800,255.5), (800,215.5), radius5. Every omega is zero.
+Parabolic inlet, regularized NEQ damping1; y bounce-back planes .5/510.5;
+NEQ-extrapolated outlet with backflow clamp (the configured blend is inactive in
+this MRT route). Initial fluid is
+parabolic equilibrium. Fixed warmup is 4 NX/U=512000 steps.
+
+Geometry and fluid parameters follow DynamisLab 609116ec26f19766f5e9ce2b0df427d4e24faae8,
+`legacy_test/core/legacy_env_builder.py:build_steady_cloak` and the retained
+`config_lbm_pinball_legacy_re50d_u001.json`. This is a modern Celeris reconstruction,
+not a bitwise Legacy reproduction: Legacy uses shifted incompressible MRT, a
+different curved interpolation and prescribed parabolic outlet velocity. Current
+Celeris uses standard MRT, two-branch BFL and extrapolated outlet velocity.
+The fixed-hold control uses the SAME modern settings as the free case.
+
+## Shared translation and ownership
+
+`Translation(..., shared=True)` is explicitly transverse only. Reusing one
+envelope INSTANCE declares common motion; equal but separate envelopes are not
+linked. Before initialization and every positive Simulation.run, group members
+must have identical applied offsets, effective target offsets and interval wall
+velocities. Stage each member with set_body, then call run(1) once. An incomplete
+or inconsistent target group is rejected before device uploads and can be fixed.
+Existing pending-target direct-stepper restrictions remain.
+
+Only members of that group may have overlapping whole swept bands. Their fixed
+surface clearance must exceed4 lattice cells. This conservative bound exceeds
+2 sqrt(2)+MAX_STEP = 3.329: M1 changed cells lie in old/new disks and read one-link
+neighbors; M2 reads at most two links outside its new disk. Old/new relative
+displacement is at most .5. Thus reads cannot reach another member's old/new
+solid or M1 write region. M1 writes are disjoint. M2 writes opposite population
+slots inside its own new disk, also disjoint. Separate first_slot ranges still
+allocate each body's logical band/debug storage. Shared band cells alone do not
+write anything: M1 returns unless membership changes; M2 returns unless a cut
+link exists. Unrelated moving/static body and probe overlaps still reject.
+
+This is a sufficient restricted-group condition, not support for near-contact
+or independent motion. The r4, distance8.3, dy=.5 counterexample remains rejected.
+CPU tests enumerate candidate donors/write footprints over subcell phases;
+GPU tests compare fixed vs hold and member-order permutations through crossings
+at wall speed .01 over the full +/-D envelope (8000 steps). The initial .5-speed
+fixture failed with NaNs; a single-circle control also failed at step69. That
+Mach~.866 fixture was unsuitable as a low-Mach numerical gate. Its failure is
+retained; the geometric MAX_STEP proof is unchanged, not a stability guarantee.
+CUDA kernels and arithmetic are unchanged.
+
+## New structural parameters (not inherited from the paper)
+
+One transverse state y,v; total assembly M=10 rho (3 pi D^2/4)=9424.77796,
+fn=U/(5D)=.0001, Tn=10000, zeta=.01, K=M(2 pi fn)^2,
+C=2 zeta M(2 pi fn). Initial y=v=0, no seed or later kick. Force is the sum
+of the three instantaneous CME_y+Wen_y values from the previous fluid step;
+node impulses are logged separately and never added. The damped oscillator is
+integrated exactly for that piecewise-constant force over dt=1. Wall velocity
+is y[n+1]-y[n], not the endpoint oscillator velocity. No filtering or retuning.
+
+Observe600000 steps=60Tn=300 D/U after warmup, in each of free and fixed-hold
+cases. Final20Tn is a descriptive comparison window; ten-Tn blocks expose drift.
+No settled/periodic claim follows merely from reaching the cap. Stop on |y|>D,
+nonfinite values, no_donor, rejected displacement or speed>.05. Report any quiet
+response honestly. No automatic extension. --smoke uses32 warmup+32 steps only.
+
+Native-step rows retain y,v, each body's CME/Wen/node terms and refill counters;
+each600000x15 FP64 file is72MB. No full-field output or policy training. Compile
+and run on one device serially, keep original outputs and dirty trees untouched.
+This stage makes no claim of physical grid convergence or vibration suppression.
+
+Run from checkout with PYTHONPATH=src and the existing Python environment:
+`python research/steady_pinball/run.py --smoke --out <new-external-directory>`
+then separately `--out <new-free-directory>` and `--fixed --out <new-fixed-directory>`.
+
+## Zero-damping development follow-up (predeclared 2026-10-31)
+
+The original d0bcefa run and its zeta=.01 results remain historical evidence.
+The current runner exposes three fixed `--case` choices, all with C=0 as requested:
+
+| Case | M / (rho 3 pi D^2/4) | fn | M | K | Purpose |
+|---|---:|---:|---:|---:|---|
+| Z0 | 10 | .0001 | 9424.77796 | .00372075320 | Remove damping only |
+| M2 | 2 | .0001 | 1884.95559 | .000744150640 | Reduce mass and stiffness together at fixed fn |
+| R2 | 2 | .00006 | 1884.95559 | .000267894231 | Change stiffness only relative to M2 |
+
+R2 deliberately places fn at the retained fixed-body lift peak, f=.00006
+(St=.12 on mean U). This is an informed development choice, not independent
+physical validation or a promise of lock-in. All geometries, fluid settings,
+512000-step fixed warmup, y0=v0=0, force time level and unfiltered RHS are unchanged.
+No run result may select a replacement parameter or an automatic extension.
+
+Each case has a 600000-step cap, the same 300 D/U physical duration. This equals
+60 natural periods for Z0/M2 and 36 for R2. Compare the common final200000 native
+steps, and six100000-step blocks, retaining actual natural/response frequencies
+and ongoing drift. Do not call those blocks ten R2 periods. No settled-VIV claim
+follows from a larger displacement. Report all three outcomes, including quiet
+responses or stopped cases, alongside the existing fixed and damped-free records.
+
+Unchanged stops: |y|>D, invalid move/speed, nonfinite values or no_donor. A 1800s
+per-case wall cap and GPU headroom check bound resource use. Preserve partial rows;
+do not add damping, clip trajectories, filter forces, or relax any stop. Each
+case adds72MB of scalar history, no full fields. The separate Legacy/modern
+baseline diagnosis does not change this FSI protocol.
+
+## Matched D40 resolution comparison (predeclared 2026-10-31)
+
+The first finer case is M2, with exactly the same mass ratio2, reduced velocity5,
+zero structural damping, initial rest state and physical geometry as the retained
+D20 M2. Targeting a development response of0.5--1D does not imply this case will
+reach it. Do not change the structure within this comparison or discard a smaller
+response. D60 is a supported scaling choice, not an automatically scheduled run.
+
+For s=D/20 use dx'=dx/s, dt'=dt/s^2, U'=.01/s, nu'=.004, rho'=1,
+fn'=fn/s^2, M'=s^2 M and K'=K/s^2. The same physical force per unit span
+has F'_lat=F_lat/s. For D40 this gives U=.005, fn=.000025,
+M=7539.82237, K=.000186037660, Re_D=50, and Tn=40000 steps.
+The y walls are at .5 and ny-1.5, while x inlet/outlet source nodes are at0
+and nx-1. Therefore map x'=s*x and y'=.5+s*(y-.5), with
+nx'=s*(1280-1)+1, ny'=s*(512-2)+2. D40 uses2559x1022 and centres
+(1200,510.5),(1252,540.5),(1252,480.5); every radius, probe and envelope scales
+with D. The parabolic profile retains the same normalized wall coordinate.
+This preserves the existing ghost-source boundary convention, without asserting
+that it is an exact continuum open-boundary location.
+
+Warmup=2048000 and response=2400000 native steps at D40: the SAME256 and300
+D/U durations as D20, including60 natural periods after release. Compare the
+six50-D/U blocks and the common final100-D/U window. Report max absolute y/D,
+half-range, RMS, frequency and drift; peak-to-peak is not amplitude. No settling
+claim follows from completion. Keep raw individual CME/Wen/node terms and all
+crossing/fallback counters. Normalize net force by .5*rho*U^2*D in each case.
+Report native crossing/non-crossing force increments separately, plus D40
+four-step block means aligned with D20 intervals (diagnostic only, never replace
+the raw spikes). Report final-window high-frequency variance above f*D/U=1,
+using demeaned FFT Parseval weights, with the same physical cutoff for both cases.
+Different motion histories confound spike-size comparisons; this is simultaneous
+space/time/Mach refinement, not proof of a unique coarse-grid cause.
+
+Only one full D40 M2 is initially scheduled, after CPU checks and a32+32-step
+smoke. Stop on the unchanged geometry/speed/nonfinite/no_donor checks or a7200s
+whole-case wall cap; save completed rows and status. The velocity cap scales to
+.025 so its physical bound is unchanged. No force filtering, trajectory clipping,
+automatic parameter search or extension. Scalar history is288MB; no full fields
+or DDF snapshots are written. Two FP32 population buffers require about188MiB,
+before flags, moving tables and context overhead; measure actual peak usage in
+the smoke and full run. Keep all D20 outcomes. No production source changes.
+
+Commands (one GPU and serial compilation, existing environment):
+`python research/steady_pinball/run.py --case M2 --D 40 --smoke --out <new-smoke-dir>`
+then `python research/steady_pinball/run.py --case M2 --D 40 --wall-seconds 7200 --out <new-full-dir>`.

research/karman_viv/run.py

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+"""One paired zero/PPO Karman pinball VIV experiment; see docs/karman_viv.md.
+
+Research-only adapter: static precursor -> two fresh, identical moving plants.
+No moving checkpoint/rollback, policy retraining, or force filtering.
+"""
+from __future__ import annotations
+
+import argparse
+import hashlib
+import json
+from pathlib import Path
+import subprocess
+import sys
+import time
+
+import numpy as np
+
+ROOT = Path(__file__).resolve().parents[2]
+sys.path.insert(0, str(ROOT))
+from research.steady_pinball.run import Structure, config, scaled_points, CENTRES, PROBES, COLUMNS
+
+BIAS = np.array([0., -4., 4.])
+MODEL_SHA = '148240c1dcb8b11d8e5a0a9e991f6874c4e799c9744707bf0fb32a8efeb0468d'
+NORM_SHA = '534fda818c030a56960e95d0f3ac1e350d887d03db7f80f1d6453195a502b7f0'
+STEP_COLUMNS = (*COLUMNS, 'omega_F', 'omega_U', 'omega_L')
+
+
+def sha(path):
+    h = hashlib.sha256()
+    with open(path, 'rb') as f:
+        for block in iter(lambda: f.read(1024*1024), b''):
+            h.update(block)
+    return h.hexdigest()
+
+
+def array_sha(a):
+    return hashlib.sha256(memoryview(np.ascontiguousarray(a)).cast('B')).hexdigest()
+
+
+def observation(sensor_mean, force_mean, scale, norm):
+    """Fine-grid area means/CME -> trained D20 sensor sums/forces -> frozen norm."""
+    sensors = np.asarray(sensor_mean, np.float64)*scale*78.
+    forces = np.asarray(force_mean, np.float64)*scale
+    raw = np.asarray([*sensors, *forces], np.float32)
+    preclip = np.hstack((raw[6:]/norm['force_norm_fact'],
+                        (raw[:6]-np.asarray(norm['sens_deviation'], np.float32)) /
+                        np.asarray(norm['sens_norm_fact'], np.float32)))
+    if not np.isfinite(preclip).all():
+        raise RuntimeError('nonfinite policy observation')
+    return raw, np.clip(preclip, -1, 1).astype(np.float32), int((np.abs(preclip)>1).sum())
+
+
+def wall_target(action, scale):
+    return (8.*np.asarray(action)+BIAS)*(.01/scale)
+
+
+def ema(eff, target, scale):
+    alpha = .9**(1./scale**2)
+    return alpha*eff + (1.-alpha)*target
+
+
+def load_policy(model):
+    # Same inference spaces as legacy_test.core.model_loader, without importing it.
+    import gymnasium as gym
+    from stable_baselines3 import PPO
+    class InferenceEnv(gym.Env):
+        observation_space = gym.spaces.Box(-1., 1., (12,), np.float32)
+        action_space = gym.spaces.Box(-1., 1., (3,), np.float32)
+        def reset(self, *, seed=None, options=None):
+            super().reset(seed=seed)
+            return np.zeros(12, np.float32), {}
+        def step(self, action):
+            return np.zeros(12, np.float32), 0., False, False, {}
+    return PPO.load(str(model), env=InferenceEnv(), device='cpu')
+
+
+def add_scene(sim, scale, moving=False, pinball=True):
+    from CelerisLab.body.motion import Translation
+    sim.add_body('circle', scaled_points(((200., 255.5),), scale)[0], 20.*scale)
+    probes = [sim.add_body('sensor', c, 5.*scale) for c in scaled_points(PROBES, scale)]
+    bodies = []
+    if pinball:
+        envelope = Translation((0., 0., -20.*scale, 20.*scale), .05/scale, shared=True) if moving else None
+        bodies = [sim.add_body('circle', c, 10.*scale, translation=envelope)
+                  for c in scaled_points(CENTRES, scale)]
+    return probes, bodies
+
+
+def capture_seed(sim):
+    """Capture both FP32 buffers at fixed geometry; never a moving-state checkpoint."""
+    import pycuda.driver as cuda
+    with sim.ctx.activate():
+        sim.stream.synchronize()
+        buffers = [np.empty_like(sim.field.ddf) for _ in range(2)]
+        for dst, src in zip(buffers, (sim.field.ddf_gpu, sim.field.temp_gpu)):
+            cuda.memcpy_dtoh(dst, src)
+    return (*buffers, sim.get_flags(), sim.stepper.step_count)
+
+
+def install_seed(sim, seed):
+    """Only a new, zero-offset instance may receive the static release state."""
+    import pycuda.driver as cuda
+    current, spare, flags, clock = seed
+    if sim.stepper.step_count != 0 or any(a.shape != sim.field.ddf.shape or a.dtype != sim.field.ddf.dtype
+                                         for a in (current, spare)):
+        raise ValueError('release transfer requires a fresh matching field')
+    if not np.array_equal(sim.get_flags(), flags):
+        raise ValueError('static/moving release flags differ')
+    for obj in sim.bodies.objects:
+        if obj.motion is not None and (obj.motion.applied != (0., 0.) or obj.motion.pending is not None):
+            raise ValueError('release transfer requires zero geometry and no target')
+    with sim.ctx.activate():
+        sim.stream.synchronize()
+        cuda.memcpy_htod(sim.field.ddf_gpu, current)
+        cuda.memcpy_htod(sim.field.temp_gpu, spare)
+    sim.stepper._step_count = clock  # one-time research initialization, not restore()
+    sim.field.invalidate_host_ddf_cache()
+    copied = capture_seed(sim)
+    if copied[3] != clock or any(not np.array_equal(a, b, equal_nan=True) for a, b in zip(copied[:3], seed[:3])):
+        raise RuntimeError('release transfer did not preserve both buffers/flags')
+    return dict(current=array_sha(copied[0]), spare=array_sha(copied[1]), flags=array_sha(copied[2]), clock=copied[3])
+
+
+def check_time(start, cap):
+    if time.monotonic()-start > cap:
+        raise TimeoutError('paired experiment wall cap')
+
+
+def warmup(sim, count, start, cap):
+    while count:
+        check_time(start, cap)
+        n = min(count, 10000)
+        sim.run(n)
+        count -= n
+
+
+def precursor(cfgpath, scale, warm, si, targets, out, start, cap):
+    from CelerisLab import Simulation
+    with Simulation(str(cfgpath)) as sim:
+        probes, _ = add_scene(sim, scale, pinball=False)
+        sim.initialize()
+        warmup(sim, warm, start, cap)
+        target = []
+        for _ in range(targets):
+            check_time(start, cap)
+            sim.run(si)
+            target.append([v*scale*78. for p in probes for v in sim.read_sensor(p)[:2]])
+        np.save(out/'target.npy', np.asarray(target, np.float32))
+        first = sim.bodies.count
+        for c in scaled_points(CENTRES, scale):
+            sim.add_body('circle', c, 10.*scale)
+        sim.sync_bodies()
+        bodies = list(range(first, first+3))
+        warmup(sim, warm-1, start, cap)
+        sim.run(1)
+        force = sum(float(sim.read_force(p)[1]) for p in bodies)
+        seed = capture_seed(sim)
+        np.savez(out/'release.npz', current=seed[0], spare=seed[1], flags=seed[2], clock=seed[3], force=force)
+        print(json.dumps(dict(event='precursor_complete', clock=seed[3], force=force,
+                              elapsed_s=time.monotonic()-start)), flush=True)
+        return seed, force
+
+
+def run_arm(name, cfgpath, scale, si, intervals, seed, initial_force, model, norm, out, start, cap):
+    from CelerisLab import Simulation
+    from CelerisLab.body.motion import MovingTables
+    cols = {k:i for i, k in enumerate(MovingTables.DIAG)}
+    diameter = 20.*scale
+    structure = Structure(2., 1.e-4/scale**2, 0., diameter)
+    arm = out/name
+    arm.mkdir()
+    rows = np.lib.format.open_memmap(arm/'steps.npy', mode='w+', dtype=np.float64,
+                                    shape=(si*intervals, len(STEP_COLUMNS)))
+    rows[:] = np.nan
+    signals = {k:np.full((intervals, width), np.nan, np.float32) for k, width in
+               [('sensors',6), ('forces',6), ('actions',3), ('observations',12)]}
+    completed = completed_intervals = clipped = 0
+    status, transfer = 'running', None
+    force = initial_force
+    obs = np.zeros(12, np.float32)
+    arm_start = time.monotonic()
+    try:
+        with Simulation(str(cfgpath)) as sim:
+            probes, bodies = add_scene(sim, scale, moving=True)
+            sim.initialize()
+            transfer = install_seed(sim, seed)
+            for i in range(intervals):
+                action = -BIAS/8 if name == 'zero' else np.asarray(model.predict(obs, deterministic=True)[0], np.float32)
+                if action.shape != (3,) or not np.isfinite(action).all() or (np.abs(action)>1).any():
+                    raise RuntimeError('invalid policy action')
+                target, eff = wall_target(action, scale), np.zeros(3)
+                sensor_sum, force_sum = np.zeros(6), np.zeros(6)
+                for k in range(si):
+                    if k % 1000 == 0:
+                        check_time(start, cap)
+                    y1, v1 = structure.candidate(force)
+                    if not np.isfinite([y1,v1]).all() or abs(y1)>diameter:
+                        raise RuntimeError('nonfinite structure or |y| > D; no retuning')
+                    eff = ema(eff, target, scale)
+                    omega = eff/(diameter/2)
+                    for p, w in zip(bodies, omega):
+                        sim.set_body(p, omega=float(w), offset=(0., y1), vy=y1-structure.y)
+                    sim.run(1, zero_obs=True, sync_obs=True)
+                    d = sim.moving_diagnostics()
+                    cme, wen = d[:,cols['cme_y']], d[:,cols['wen_y']]
+                    node = d[:,cols['cover_jy']]-d[:,cols['uncover_jy']]
+                    row = (completed+1,y1,v1,*cme,*wen,*node,
+                           d[:,cols['eq_only']].sum(),d[:,cols['no_donor']].sum(),d[:,cols['crossings']].sum(),*omega)
+                    if not np.isfinite(row).all() or row[13] != 0:
+                        raise RuntimeError('nonfinite moving diagnostic or no_donor')
+                    f = np.array([v for p in bodies for v in sim.read_force(p)[:2]])
+                    s = np.array([v for p in probes for v in sim.read_sensor(p)[:2]])
+                    if not np.isfinite([f,s]).all():
+                        raise RuntimeError('nonfinite force/sensor observation')
+                    # Policy sees packed CME as in fixed-body training; structure sees CME+Wen.
+                    force_sum += f
+                    sensor_sum += s
+                    force = float(cme.sum(dtype=np.float64)+wen.sum(dtype=np.float64))
+                    rows[completed] = row
+                    completed += 1
+                    structure.y, structure.v = y1,v1
+                raw, obs, nclip = observation(sensor_sum/si, force_sum/si, scale, norm)
+                clipped += nclip
+                for key, val in [('sensors',raw[:6]),('forces',raw[6:]),('actions',action),('observations',obs)]:
+                    signals[key][i] = val
+                completed_intervals = i+1
+                if (i+1)%10 == 0 or i+1 == intervals:
+                    rows.flush()
+                    np.savez(arm/'signals.npz', **signals)
+                    print(json.dumps(dict(event='progress', arm=name, interval=i+1, step=completed,
+                                          tU_D=completed*.01/scale/diameter, y_D=y1/diameter,
+                                          elapsed_s=time.monotonic()-arm_start)), flush=True)
+            status = 'duration_completed_not_qualified'
+    except BaseException as exc:
+        status = f'error: {type(exc).__name__}: {exc}'
+        raise
+    finally:
+        rows.flush()
+        np.savez(arm/'signals.npz', **signals)
+        report = dict(status=status, completed_steps=completed, completed_intervals=completed_intervals,
+                      elapsed_s=time.monotonic()-arm_start, release_transfer=transfer, clipped_observation_channels=clipped,
+                      columns=STEP_COLUMNS, M=structure.mass,K=structure.stiffness,fn=structure.frequency,damping=0.,
+                      max_abs_y_D=float(np.max(np.abs(rows[:completed,1]))/diameter) if completed else None)
+        (arm/'report.json').write_text(json.dumps(report,indent=2)+'\n')
+
+
+def main():
+    ap = argparse.ArgumentParser(description=__doc__)
+    ap.add_argument('--model', type=Path, required=True)
+    ap.add_argument('--norm', type=Path, required=True)
+    ap.add_argument('--out', type=Path, required=True)
+    ap.add_argument('--smoke', action='store_true', help='short plumbing only; no physical conclusion')
+    ap.add_argument('--wall-seconds', type=float, default=14400.)
+    args = ap.parse_args()
+    if not np.isfinite(args.wall_seconds) or args.wall_seconds<=0:
+        ap.error('positive finite wall cap required')
+    if sha(args.model)!=MODEL_SHA or sha(args.norm)!=NORM_SHA:
+        ap.error('model/normalizer must match frozen provenance')
+    out = args.out.resolve()
+    if out == ROOT or ROOT in out.parents:
+        ap.error('output must be outside checkout')
+    out.mkdir(parents=True, exist_ok=False)
+    norm = json.loads(args.norm.read_text())
+    model = load_policy(args.model)
+    scale = 2.
+    warm, si, targets, intervals = (32,8,2,4) if args.smoke else (2048000,3200,150,400)
+    cfgpath = out/'config.json'
+    cfgpath.write_text(json.dumps(config(40),indent=2)+'\n')
+    receipt = dict(source=subprocess.check_output(['git','-C',str(ROOT),'rev-parse','HEAD'],text=True).strip(),
+                   model_sha256=sha(args.model),norm_sha256=sha(args.norm),smoke=args.smoke,D=40,U=.005,nu=.004,
+                   warmup_each=warm,target_intervals=targets,SI=si,response_intervals=intervals,
+                   response_steps=si*intervals,response_tU_D=si*intervals*.005/40,
+                   rhs='previous native step sum CME_y+Wen_y; policy uses interval packed CME',
+                   probe_frame='lab-fixed; fine area mean * 2 * trained 78 cells',
+                   ema_native_alpha=.9**.25, structural_damping=0., columns=STEP_COLUMNS)
+    (out/'case.json').write_text(json.dumps(receipt,indent=2)+'\n')
+    start = time.monotonic()
+    status = 'running'
+    try:
+        seed, force = precursor(cfgpath,scale,warm,si,targets,out,start,args.wall_seconds)
+        for name in ('zero','controlled'):
+            run_arm(name,cfgpath,scale,si,intervals,seed,force,model,norm,out,start,args.wall_seconds)
+        status = 'smoke_completed' if args.smoke else 'pair_completed_not_qualified'
+    except BaseException as exc:
+        status = f'error: {type(exc).__name__}: {exc}'
+        raise
+    finally:
+        (out/'terminal.json').write_text(json.dumps(dict(status=status,elapsed_s=time.monotonic()-start),indent=2)+'\n')
+
+
+if __name__ == '__main__':
+    main()

research/steady_pinball/config.json

@@ -0,0 +1,49 @@
+{
+    "_doc": "Legacy geometry Re_D=50, U0=0.01, SI=800 baseline (kar_legacy_re50d_u001)",
+    "grid": {
+        "lattice_model": "D2Q9",
+        "nx": 1280,
+        "ny": 512,
+        "nz": 1
+    },
+    "physics": {
+        "data_type": "FP32",
+        "viscosity": 0.004,
+        "velocity": 0.01,
+        "rho": 1.0
+    },
+    "method": {
+        "collision": "MRT",
+        "streaming": "double_buffer",
+        "store_precision": "FP32",
+        "ddf_shifting": false,
+        "les": {
+            "enabled": false,
+            "cs": 0.16,
+            "closed_form": true
+        },
+        "trt": {
+            "magic_param": 0.1875
+        },
+        "inlet": {
+            "profile": "parabolic",
+            "scheme": "regularized",
+            "regularized_neq_damp": 1.0
+        },
+        "outlet": {
+            "mode": "neq_extrap",
+            "backflow_clamp": true,
+            "blend_alpha": 0.7,
+            "srt_neq_damp": 0.5
+        },
+        "y_wall_bc": "bounce_back",
+        "omega_guard": {
+            "min": 0.01,
+            "max": 1.99
+        }
+    },
+    "cuda": {
+        "threads_per_block": 256,
+        "compute_capability": "auto"
+    }
+}

research/steady_pinball/run.py

@@ -0,0 +1,196 @@
+"""Uncontrolled paper-geometry steady Re_D=50, one transverse assembly DOF.
+
+Three predeclared zero-damping structures; --smoke uses only 32 + 32 steps.
+See docs/steady_pinball_fiv.md for historical solver differences and new structure.
+"""
+from __future__ import annotations
+
+import argparse
+import json
+import math
+from pathlib import Path
+import subprocess
+import time
+
+import numpy as np
+
+D, U, NU = 20., .01, .004
+CENTRES = ((600., 255.5), (626., 270.5), (626., 240.5))
+PROBES = ((800., 295.5), (800., 255.5), (800., 215.5))
+WARMUP, STEPS, PERIOD = 512000, 600000, 10000
+STRUCTURES = {'Z0': (10., 1.e-4), 'M2': (2., 1.e-4), 'R2': (2., 6.e-5)}
+COLUMNS = ('step', 'y', 'v', 'cme_F', 'cme_U', 'cme_L', 'wen_F', 'wen_U', 'wen_L',
+           'node_F', 'node_U', 'node_L', 'eq_only', 'no_donor', 'crossings')
+ROOT = Path(__file__).resolve().parents[2]
+
+
+def config(diameter=D):
+    """Diffusive refinement preserves the inlet/outlet and half-grid y walls."""
+    scale = diameter / D
+    if diameter not in (20, 40, 60):
+        raise ValueError('diameter must be 20, 40 or 60')
+    cfg = json.loads(Path(__file__).with_name('config.json').read_text())
+    cfg['grid']['nx'] = round((cfg['grid']['nx'] - 1) * scale + 1)
+    cfg['grid']['ny'] = round((cfg['grid']['ny'] - 2) * scale + 2)
+    cfg['physics']['velocity'] = U / scale
+    return cfg
+
+
+def scaled_points(points, scale):
+    return tuple((scale*x, .5 + scale*(y-.5)) for x, y in points)
+
+
+class Structure:
+    """Exact damped oscillator update for a force held over dt=1; no force filter."""
+    def __init__(self, mass_ratio=10., frequency=1.e-4, zeta=0., diameter=D):
+        if not (math.isfinite(mass_ratio) and mass_ratio > 0. and
+                math.isfinite(frequency) and frequency > 0. and
+                math.isfinite(zeta) and 0. <= zeta < 1.):
+            raise ValueError('positive finite mass ratio/frequency and 0 <= zeta < 1 required')
+        self.mass_ratio, self.frequency = mass_ratio, frequency
+        self.mass = mass_ratio * 3. * math.pi * diameter * diameter / 4.
+        self.omega = 2. * math.pi * frequency
+        self.zeta = zeta
+        self.stiffness = self.mass * self.omega**2
+        self.damping = 2. * self.zeta * self.mass * self.omega
+        self.y = self.v = 0.
+        a = self.zeta * self.omega
+        wd = self.omega * math.sqrt(1. - self.zeta**2)
+        self.ec = math.exp(-a) * math.cos(wd)
+        self.es = math.exp(-a) * math.sin(wd) / wd
+        self.a = a
+
+    def candidate(self, force):
+        equilibrium = force / self.stiffness
+        z = self.y - equilibrium
+        return (equilibrium + (self.ec + self.a*self.es)*z + self.es*self.v,
+                -self.omega**2*self.es*z + (self.ec - self.a*self.es)*self.v)
+
+
+def summarize(rows, diameter=D, block_steps=10*PERIOD):
+    windows = []
+    for start in range(0, len(rows), block_steps):
+        block = rows[start:start + block_steps]
+        fy = block[:, 3:9].sum(axis=1)
+        windows.append(dict(start_step=int(block[0, 0]), end_step=int(block[-1, 0]),
+                            y_mean_D=float(block[:, 1].mean()/diameter),
+                            y_rms_D=float(np.sqrt(np.mean(block[:, 1]**2))/diameter),
+                            y_peak_D=float(np.abs(block[:, 1]).max()/diameter),
+                            fy_mean=float(fy.mean()), fy_rms=float(np.sqrt(np.mean(fy**2))),
+                            mean_power=float(np.mean(fy*block[:, 2]))))
+    return windows
+
+
+def main():
+    ap = argparse.ArgumentParser(description=__doc__)
+    ap.add_argument('--out', required=True, type=Path)
+    ap.add_argument('--fixed', action='store_true', help='same modern moving-path geometry held fixed')
+    ap.add_argument('--smoke', action='store_true', help='32+32 steps, no physical result')
+    ap.add_argument('--case', choices=STRUCTURES, default='Z0',
+                    help='predeclared structure; all cases have zero structural damping')
+    ap.add_argument('--D', type=int, choices=(20, 40, 60), default=20,
+                    help='diameter in cells; diffusive scaling, matched geometry and physical duration')
+    ap.add_argument('--wall-seconds', type=float, default=7200., help='whole-case wall-clock cap')
+    args = ap.parse_args()
+    if not math.isfinite(args.wall_seconds) or args.wall_seconds <= 0:
+        ap.error('--wall-seconds must be finite and positive')
+    scale, time_scale = args.D / D, (args.D // int(D))**2
+    velocity = U / scale
+    centres, probes = scaled_points(CENTRES, scale), scaled_points(PROBES, scale)
+    period = PERIOD*time_scale
+    out = args.out.resolve()
+    if out == ROOT or ROOT in out.parents:
+        ap.error('output must be outside the checkout')
+    out.mkdir(parents=True, exist_ok=False)
+    cfg = config(args.D)
+    (out/'config.json').write_text(json.dumps(cfg, indent=2)+'\n')
+    source = subprocess.check_output(['git', '-C', str(ROOT), 'rev-parse', 'HEAD'], text=True).strip()
+    mass_ratio, frequency = STRUCTURES[args.case]
+    s = Structure(mass_ratio, frequency/time_scale, zeta=0., diameter=args.D)
+    warmup, count = (32, 32) if args.smoke else (WARMUP*time_scale, STEPS*time_scale)
+    rows = np.lib.format.open_memmap(out/'steps.npy', mode='w+', dtype=np.float64,
+                                     shape=(count, len(COLUMNS)))
+    rows[:] = np.nan
+    from CelerisLab import Simulation
+    from CelerisLab.body.motion import MovingTables, Translation
+    names = MovingTables.DIAG
+    col = {k: names.index(k) for k in names}
+    status, completed, f_last = 'running', 0, 0.
+    started = time.monotonic()
+    report = dict(source=source, case=args.case, fixed=args.fixed, smoke=args.smoke, columns=COLUMNS,
+                  structure=dict(mass=s.mass, stiffness=s.stiffness, damping=s.damping,
+                                 mass_ratio_three_disks=s.mass_ratio,
+                                 zeta=s.zeta, fn=s.frequency, Tn=1./s.frequency, y0=0., v0=0.),
+                  warmup_steps=warmup, requested_steps=count, dt=1., D=args.D, U=velocity, nu=NU,
+                  relative_to_D20=dict(dx=1/scale, dt=1/time_scale),
+                  centres=centres, probes=probes, wall_planes=(.5, cfg['grid']['ny']-1.5),
+                  wall_cap_seconds=args.wall_seconds,
+                  duration_Tn=count*s.frequency, duration_tU_D=count*velocity/args.D,
+                  summary_block_steps=10*period,
+                  rhs='sum of three instantaneous CME_y + Wen_y, one-step lag, no filtering')
+    try:
+        with Simulation(str(out/'config.json')) as sim:
+            # Match Legacy object order; probes remain passive and fixed in the lab.
+            for c in probes:
+                sim.add_body('sensor', c, 5.*scale)
+            envelope = Translation((0., 0., -args.D, args.D), .05/scale, shared=True)
+            bodies = [sim.add_body('circle', c, args.D/2, translation=envelope) for c in centres]
+            sim.initialize()
+            # At release obtain the last instantaneous force, not a warmup average.
+            remaining = warmup - 1
+            while remaining:
+                if time.monotonic()-started > args.wall_seconds:
+                    raise TimeoutError('whole-case wall cap during warmup')
+                chunk = min(10000, remaining)
+                sim.run(chunk)
+                remaining -= chunk
+            sim.run(1)
+            d = sim.moving_diagnostics()
+            f_last = float(d[:, col['cme_y']].sum(dtype=np.float64) + d[:, col['wen_y']].sum(dtype=np.float64))
+            report['warmup_elapsed_s'] = time.monotonic()-started
+            print(json.dumps(dict(event='release', **report)), flush=True)
+            for n in range(count):
+                if n % 1000 == 0 and time.monotonic()-started > args.wall_seconds:
+                    raise TimeoutError('whole-case wall cap during response')
+                y1, v1 = (0., 0.) if args.fixed else s.candidate(f_last)
+                if not all(map(math.isfinite, (y1, v1))) or abs(y1) > args.D:
+                    status = 'stopped_nonfinite_or_travel_bound'
+                    break
+                if not args.fixed:
+                    for bid in bodies:
+                        sim.set_body(bid, offset=(0., y1), vy=y1-s.y)
+                sim.run(1)
+                d = sim.moving_diagnostics()
+                cme, wen = d[:, col['cme_y']], d[:, col['wen_y']]
+                node = d[:, col['cover_jy']] - d[:, col['uncover_jy']]
+                row = (n+1, y1, v1, *cme, *wen, *node,
+                       d[:, col['eq_only']].sum(), d[:, col['no_donor']].sum(), d[:, col['crossings']].sum())
+                if not np.isfinite(row).all() or row[-2] != 0:
+                    status = 'stopped_nonfinite_or_no_donor'
+                    break
+                rows[n] = row
+                completed = n+1
+                s.y, s.v = y1, v1
+                f_last = float(cme.sum(dtype=np.float64)+wen.sum(dtype=np.float64))
+                if completed % period == 0:
+                    rows.flush()
+                    print(json.dumps(dict(event='progress', step=completed, t_Tn=completed*s.frequency,
+                                          y_D=s.y/args.D, elapsed_s=time.monotonic()-started)), flush=True)
+            else:
+                status = 'smoke_completed' if args.smoke else 'duration_completed_not_qualified'
+    except BaseException as exc:
+        status = f'error: {type(exc).__name__}: {exc}'
+        raise
+    finally:
+        rows.flush()
+        report.update(status=status, completed_steps=completed, elapsed_s=time.monotonic()-started,
+                      windows=summarize(rows[:completed], args.D, 10*period),
+                      totals={key: float(rows[:completed, i].sum()) for key, i in
+                              [('eq_only', 12), ('no_donor', 13), ('crossings', 14)]},
+                      limitation='Uncontrolled development response only. No automatic settling, grid convergence, control or historical-solver equivalence claim.')
+        (out/'report.json').write_text(json.dumps(report, indent=2)+'\n')
+        print(json.dumps(report), flush=True)
+
+
+if __name__ == '__main__':
+    main()

src/CelerisLab/body/motion.py

@@ -14,6 +14,7 @@ from typing import Callable, Optional, Tuple
 
 MAX_STEP = 0.5     # Euclidean centre displacement per step (lattice cells)
 BAND_MARGIN = 2    # cells added around the swept circle AABB
+SHARED_CLEARANCE = 4.0  # > two diagonal links + MAX_STEP; docs/steady_pinball_fiv.md
 R_MIN = 4.0        # smallest radius covered by the donor enumeration
 
 Vec = Tuple[float, float]
@@ -31,6 +32,7 @@ class Translation:
     """Declared motion envelope: offset box (x_min, x_max, y_min, y_max) and speed bound."""
     offset_box: Tuple[float, float, float, float]
     max_speed: float
+    shared: bool = False  # same envelope instance: synchronous transverse motion
 
     def __post_init__(self):
         box = tuple(float(v) for v in self.offset_box)
@@ -41,10 +43,29 @@ class Translation:
             raise ValueError("offset_box must contain the zero offset")
         if not 0.0 < speed <= MAX_STEP:
             raise ValueError(f"max_speed must satisfy 0 < max_speed <= {MAX_STEP}")
+        if self.shared and box[:2] != (0.0, 0.0):
+            raise ValueError("shared translation is transverse only (x offsets must be zero)")
         object.__setattr__(self, "offset_box", box)
         object.__setattr__(self, "max_speed", speed)
 
 
+def validate_shared_translations(circles):
+    """Check common old/target offsets and wall velocities before device work.
+
+    Per-body setters may stage members in any order. Envelope identity (not
+    value equality) defines a group; a missing target means hold at applied.
+    """
+    groups = {}
+    for motion in circles:
+        if not motion.translation.shared:
+            continue
+        target = motion.pending if motion.pending is not None else (motion.applied, (0.0, 0.0))
+        state = (motion.applied, target)
+        key = id(motion.translation)
+        if groups.setdefault(key, state) != state:
+            raise ValueError("shared translation needs identical applied/target offsets and velocities")
+
+
 class MovingCircle:
     """Applied offset, pending target and the fail-closed commit of one circle."""
 
@@ -72,6 +93,8 @@ class MovingCircle:
         x0, x1, y0, y1 = self.translation.offset_box
         if not (x0 <= offset[0] <= x1 and y0 <= offset[1] <= y1):
             raise ValueError(f"offset {offset} outside declared box {self.translation.offset_box}")
+        if self.translation.shared and velocity[0] != 0.0:
+            raise ValueError("shared translation needs zero x velocity")
         step = math.hypot(offset[0] - self.applied[0], offset[1] - self.applied[1])
         if step > MAX_STEP:
             raise ValueError(f"per-step displacement {step} exceeds {MAX_STEP}")

src/CelerisLab/simulation.py

@@ -259,6 +259,8 @@ class Simulation:
         moving = self._moving_bodies()
         if not moving:
             return
+        from .body.motion import SHARED_CLEARANCE, validate_shared_translations
+        validate_shared_translations([obj.motion for obj in moving])
         cfg = self.lbm_cfg
         if (not cfg.is_d2q9 or cfg.streaming != "double_buffer" or cfg.ddf_shifting
                 or cfg.store_precision != "FP32"):
@@ -277,6 +279,13 @@ class Simulation:
                 if other is obj:
                     continue
                 (cx, cy), r = other.center[:2], float(other.radius)
+                if (other.motion is not None and obj.motion.translation.shared
+                        and obj.motion.translation is other.motion.translation):
+                    # Whole envelopes may overlap; simultaneous local stencils may not.
+                    gap = np.hypot(obj.center[0] - cx, obj.center[1] - cy) - obj.radius - r
+                    if gap <= SHARED_CLEARANCE:
+                        raise ValueError("shared translation needs surface clearance > 4 cells")
+                    continue
                 if other.motion is not None:
                     ox0, ox1, oy0, oy1 = other.motion.band()
                 else:
@@ -719,6 +728,9 @@ class Simulation:
         if steps < 0 or checkpoint_interval < 0:
             raise ValueError("steps and checkpoint_interval must be nonnegative")
         moving = self._moving_bodies()
+        if steps > 0 and moving:
+            from .body.motion import validate_shared_translations
+            validate_shared_translations([obj.motion for obj in moving])
         if steps > 0 and moving and self.stepper.moving is None:
             raise RuntimeError(MOVING_BLOCKED)
         if moving and checkpoint_interval > 0:

tests/integration/test_shared_translation_gpu.py

@@ -0,0 +1,62 @@
+"""Small serial GPU gates for shared transverse circles; no physical benchmark."""
+import json
+from pathlib import Path
+
+import numpy as np
+
+from CelerisLab import Simulation
+from CelerisLab.body.motion import MovingTables, Translation
+
+CENTRES = ((70., 79.5), (96., 94.5), (96., 64.5))
+
+
+def simulate(tmp_path, *, moving, offsets, reverse=False):
+    config = json.loads((Path(__file__).resolve().parents[2]/'research/steady_pinball/config.json').read_text())
+    config['grid'].update(nx=192, ny=160)
+    p = tmp_path/'config.json'
+    p.write_text(json.dumps(config))
+    with Simulation(str(p)) as sim:
+        envelope = Translation((0., 0., -20., 20.), .5, shared=True)
+        centres = list(reversed(CENTRES)) if reverse else list(CENTRES)
+        ids = [sim.add_body('circle', c, 10., translation=envelope if moving else None) for c in centres]
+        sim.initialize()
+        previous = 0.
+        crossings = 0.
+        for y in offsets:
+            if moving:
+                for bid in ids:
+                    sim.set_body(bid, offset=(0., float(y)), vy=float(y-previous))
+            sim.run(1)
+            if moving:
+                diag = sim.moving_diagnostics()
+                assert np.isfinite(diag).all()
+                assert np.all(diag[:, MovingTables.DIAG.index('no_donor')] == 0)
+                crossings += diag[:, MovingTables.DIAG.index('crossings')].sum()
+            previous = y
+        forces = np.array([sim.read_force(bid) for bid in ids])
+        if reverse:
+            forces = forces[::-1]
+        return sim.get_ddf(), sim.get_flags(), forces, crossings
+
+
+def test_fixed_vs_shared_hold(tmp_path):
+    fixed = simulate(tmp_path, moving=False, offsets=[0.]*32)
+    held = simulate(tmp_path, moving=True, offsets=[0.]*32)
+    assert np.array_equal(fixed[0], held[0], equal_nan=True)
+    assert np.array_equal(fixed[1], held[1])
+    # FP32 atomic force reduction order only; populations remain exactly equal.
+    np.testing.assert_allclose(fixed[2], held[2], rtol=0., atol=1e-4)
+    assert held[3] == 0
+
+
+def test_common_motion_member_order_has_no_population_effect(tmp_path):
+    # MAX_STEP=.5 is a geometric bound, not a low-Mach stability guarantee.
+    # Keep the complete +/-D excursion at wall speed .01, equal to mean inflow.
+    offsets = np.concatenate((np.arange(1, 2001), np.arange(1999, -2001, -1),
+                              np.arange(-1999, 1))) * .01
+    forward = simulate(tmp_path, moving=True, offsets=offsets)
+    reverse = simulate(tmp_path, moving=True, offsets=offsets, reverse=True)
+    assert forward[3] > 0 and forward[3] == reverse[3]
+    assert np.array_equal(forward[0], reverse[0], equal_nan=True)
+    assert np.array_equal(forward[1], reverse[1])
+    np.testing.assert_allclose(forward[2], reverse[2], rtol=0., atol=1e-4)

tests/unit/test_karman_viv.py

@@ -0,0 +1,115 @@
+"""Research interface contracts; no CUDA context or physical validation."""
+import importlib.util
+from pathlib import Path
+from types import SimpleNamespace
+from unittest.mock import patch
+
+import numpy as np
+import pytest
+
+ROOT = Path(__file__).resolve().parents[2]
+spec = importlib.util.spec_from_file_location('karman_viv_research_driver', ROOT/'research/karman_viv/run.py')
+m = importlib.util.module_from_spec(spec)
+spec.loader.exec_module(m)
+
+
+def test_observation_unit_mapping_and_order():
+    norm = dict(force_norm_fact=2.,sens_deviation=np.arange(6)/10.,sens_norm_fact=np.ones(6)*3)
+    s=np.arange(6)*.001; f=np.arange(6)*.01
+    raw,obs,nclip=m.observation(s,f,2,norm)
+    np.testing.assert_array_equal(raw,np.asarray([*(s*156),*(f*2)],np.float32))
+    expected=np.hstack((raw[6:]/2,(raw[:6]-np.asarray(norm['sens_deviation'],np.float32))/3))
+    np.testing.assert_array_equal(obs,expected.astype(np.float32))
+    assert nclip==0
+
+
+def test_same_physical_signal_d20_d40():
+    norm=dict(force_norm_fact=1.,sens_deviation=np.zeros(6),sens_norm_fact=np.ones(6))
+    a=m.observation(np.ones(6)*.001,np.arange(6)*.01,1,norm)
+    b=m.observation(np.ones(6)*.0005,np.arange(6)*.005,2,norm)
+    np.testing.assert_array_equal(a[0],b[0]); np.testing.assert_array_equal(a[1],b[1])
+
+
+def test_zero_action_and_ccw_scale():
+    np.testing.assert_array_equal(m.wall_target(-m.BIAS/8,2),np.zeros(3))
+    np.testing.assert_allclose(m.wall_target(np.ones(3),2),[.04,.02,.06])
+    assert m.wall_target(np.ones(3),2)[0]/20 == .002
+
+
+def test_ema_equal_physical_time_and_interval_reset():
+    target=np.array([.01,-.02,.03]); coarse=np.zeros(3); fine=np.zeros(3)
+    for _ in range(13): coarse=m.ema(coarse,target,1)
+    for _ in range(52): fine=m.ema(fine,target,2)
+    np.testing.assert_allclose(fine,coarse,rtol=2e-15,atol=1e-17)
+    np.testing.assert_allclose(m.ema(np.zeros(3),target,2),(1-.9**.25)*target)
+
+
+def test_config_real_parser(tmp_path):
+    import json
+    from CelerisLab.config import load_lbm_config
+    path=tmp_path/'config.json';path.write_text(json.dumps(m.config(40)))
+    cfg=load_lbm_config(str(path));cfg.validate()
+    assert (cfg.nx,cfg.ny,cfg.velocity,cfg.viscosity)==(2559,1022,.005,.004)
+
+
+def test_structure_physical_scaling_and_no_damping():
+    coarse=m.Structure(2,1e-4,0,20);fine=m.Structure(2,2.5e-5,0,40)
+    assert fine.mass==4*coarse.mass
+    assert fine.stiffness==coarse.stiffness/4
+    assert fine.damping==0
+    assert fine.candidate(0)==(0.,0.)
+
+
+def test_observation_clipping_and_nonfinite():
+    norm=dict(force_norm_fact=1.,sens_deviation=np.zeros(6),sens_norm_fact=np.ones(6))
+    _,obs,n=m.observation(np.ones(6),np.ones(6),2,norm)
+    assert n==12 and np.array_equal(obs,np.ones(12,np.float32))
+    with pytest.raises(RuntimeError,match='nonfinite'):
+        m.observation(np.full(6,np.nan),np.zeros(6),2,norm)
+
+
+def test_arm_step_order_and_native_rhs(tmp_path):
+    import CelerisLab
+    from CelerisLab.body.motion import MovingTables
+    from contextlib import nullcontext
+    log=[];candidates=[]
+    class Structure:
+        y=v=0.;mass=2.;stiffness=3.;frequency=.1
+        def __init__(self,*args): pass
+        def candidate(self,f):
+            candidates.append(f)
+            return self.y+.001,self.v+.002
+    class Sim:
+        def __init__(self,*args): self.n=0
+        def __enter__(self): return self
+        def __exit__(self,*args): pass
+        def initialize(self): pass
+        def set_body(self,p,**kw): log.append(('set',p,kw))
+        def run(self,n,**kw): self.n+=1;log.append(('run',n,kw))
+        def moving_diagnostics(self):
+            a=np.zeros((3,len(MovingTables.DIAG)),np.float32)
+            a[:,MovingTables.DIAG.index('cme_y')]=self.n
+            a[:,MovingTables.DIAG.index('wen_y')]=10*self.n
+            a[:,MovingTables.DIAG.index('cover_jy')]=1000
+            return a
+        def read_force(self,p): return [0.,float(self.n),0.]
+        def read_sensor(self,p): return [.001,0.,0.]
+    seen=[]
+    model=SimpleNamespace(predict=lambda obs,**kw:(seen.append(obs.copy()) or np.ones(3)*.1,None))
+    norm=dict(force_norm_fact=1.,sens_deviation=np.zeros(6),sens_norm_fact=np.ones(6))
+    with patch.object(CelerisLab,'Simulation',Sim),patch.object(m,'Structure',Structure), \
+         patch.object(m,'add_scene',return_value=([1,2,3],[4,5,6])),patch.object(m,'install_seed',return_value={}), \
+         patch.object(m,'check_time'):
+        m.run_arm('controlled','cfg',2,2,2,None,7.,model,norm,tmp_path,0,1)
+    assert candidates==[7.,33.,66.,99.]  # previous native force, NOT SI mean or node impulse
+    assert not seen[0].any() and len(seen)==2
+    assert [e[0] for e in log]==['set','set','set','run']*4
+    for e in log:
+        if e[0]=='set': assert e[2]['vy']==pytest.approx(.001) and e[2]['omega']!=0
+        else: assert e[2]==dict(zero_obs=True,sync_obs=True)
+    rows=np.load(tmp_path/'controlled/steps.npy')
+    np.testing.assert_allclose(rows[:,1],[.001,.002,.003,.004])
+    assert rows.shape==(4,18)
+    np.testing.assert_array_equal(rows[0,15:],rows[2,15:])  # EMA resets at SI boundary
+    signals=np.load(tmp_path/'controlled/signals.npz')
+    np.testing.assert_array_equal(signals['forces'][:,1],[3.,7.])  # interval CME *2, not CME+Wen

tests/unit/test_shared_translation.py

@@ -0,0 +1,122 @@
+"""Host admission and independent lattice-stencil checks; no CUDA context."""
+from types import SimpleNamespace
+
+import numpy as np
+import pytest
+
+from CelerisLab.body.motion import MovingCircle, MovingTables, Translation, validate_shared_translations
+from CelerisLab.lbm.descriptors import FLUID
+from tests.unit.test_moving_bodies import STREAM, body, moving_simulation, routed_simulation
+
+
+def scene(monkeypatch, envelope=None, gap=10.):
+    sim = routed_simulation(monkeypatch)
+    envelope = envelope or Translation((0., 0., -6., 6.), .5, shared=True)
+    for y in (40. - (20. + gap) / 2., 40. + (20. + gap) / 2.):
+        sim.bodies.add(body(60., y, 10., envelope))
+    sim.field = SimpleNamespace(nx=120, ny=80, build_channel_flags=lambda: np.full((80, 120), FLUID))
+    return sim
+
+
+def test_shared_bands_are_admitted_but_other_groups_are_not(monkeypatch):
+    sim = scene(monkeypatch)
+    sim._validate_moving_bodies()
+    a, b = [o.motion for o in sim.bodies.objects]
+    assert a.band()[3] >= b.band()[2]  # whole envelopes genuinely overlap
+    band, geom = MovingTables.layout([(a, 0), (b, 1)])
+    assert band[10] == band[2] * band[3] * 8
+    assert len(geom) == 14
+    b.translation = Translation((0., 0., -6., 6.), .5, shared=True)
+    with pytest.raises(ValueError, match='overlaps body'):
+        sim._validate_moving_bodies()  # equal values do not link independent motion
+    b.translation = a.translation
+    sim.bodies.add(body(60., 40., 2.))
+    with pytest.raises(ValueError, match='overlaps body'):
+        sim._validate_moving_bodies()
+
+
+@pytest.mark.parametrize('gap', (.3, 4.))
+def test_small_surface_gaps_rejected(monkeypatch, gap):
+    with pytest.raises(ValueError, match='clearance'):
+        scene(monkeypatch, gap=gap)._validate_moving_bodies()
+
+
+def test_shared_envelope_is_transverse_only():
+    with pytest.raises(ValueError, match='transverse'):
+        Translation((-.1, .1, -1., 1.), .5, shared=True)
+
+    envelope = Translation((0., 0., -1., 1.), .5, shared=True)
+    with pytest.raises(ValueError, match="zero x velocity"):
+        MovingCircle((0., 0.), 10., envelope).check_target((0., .1), (.1, .1))
+
+def test_group_rejection_is_before_writes_and_can_be_corrected(monkeypatch):
+    sim, writes = moving_simulation(monkeypatch)
+    env = Translation((0., 0., -2., 2.), .5, shared=True)
+    sim.bodies.objects = [body(40., y, 10., env) for y in (20., 50.)]
+    a, b = [o.motion for o in sim.bodies.objects]
+    sim.stepper.moving = object()
+    a.set_target((0., .2), (0., .2))
+    with pytest.raises(ValueError, match='identical'):
+        sim.run(1, stream=STREAM)
+    assert writes == [] and a.applied == b.applied == (0., 0.)
+    b.set_target((0., .2), (0., .1))
+    with pytest.raises(ValueError, match='identical'):
+        sim.run(1, stream=STREAM)
+    assert writes == []
+    b.set_target((0., .2), (0., .2))
+    validate_shared_translations([a, b])
+    b.applied = (0., -.1)
+    with pytest.raises(ValueError, match='identical'):
+        validate_shared_translations([a, b])
+
+
+C = np.array([(x, y) for x in (-1, 0, 1) for y in (-1, 0, 1) if (x, y) != (0, 0)])
+
+
+def footprint_conflicts(centres, radius, dy):
+    """Enumerate geometric write/read supports, not refill/BFL formulas.
+
+    Tests every candidate donor, conservatively including M2's second link.
+    Body-indexed slot numbers are separate from physical (cell,direction) writes.
+    """
+    centres = np.asarray(centres, float)
+    lo = np.floor(centres.min(0) - radius - 4).astype(int)
+    hi = np.ceil(centres.max(0) + radius + 4).astype(int)
+    yy, xx = np.mgrid[lo[1]:hi[1]+1, lo[0]:hi[0]+1]
+    points = np.column_stack((xx.ravel(), yy.ravel()))
+    def inside(p, c):
+        return ((p - c)**2).sum(axis=-1) < radius**2
+    old = np.array([inside(points, c) for c in centres])
+    new_centres = centres + (0., dy)
+    new = np.array([inside(points, c) for c in new_centres])
+    changed = old ^ new
+    conflicts = int(np.count_nonzero(changed.sum(0) > 1))
+    writes = set()
+    for i, (oc, nc) in enumerate(zip(centres, new_centres)):
+        others = [j for j in range(len(centres)) if j != i]
+        fresh = points[old[i] & ~new[i]]
+        for e in C:
+            donor = fresh + e
+            valid = ~inside(donor, oc) & ~inside(donor, nc)
+            for j in others:
+                conflicts += int(np.count_nonzero(valid & (inside(donor, centres[j]) | inside(donor, new_centres[j]))))
+            link = ~new[i] & inside(points + e, nc)
+            fluid = points[link]
+            solid = fluid + e
+            for p in solid:
+                slot = (int(p[0]), int(p[1]), int(e[0]), int(e[1]))
+                conflicts += int(slot in writes)
+                writes.add(slot)
+            for read in (fluid, fluid - e):
+                for j in others:
+                    conflicts += int(np.count_nonzero(inside(read, centres[j]) | inside(read, new_centres[j])))
+    return conflicts
+
+
+def test_counterexample_and_pinball_local_ownership():
+    # Close but disjoint circles are insufficient: parent/Grok independent example.
+    assert footprint_conflicts(((.25, .25), (.25, 8.55)), 4., .5) > 0
+    for phase in (0., .25, .5, .75):
+        for dy in (-.5, -.1, .1, .5):
+            centres = np.array(((0., 0.), (26., 15.), (26., -15.))) + phase
+            assert footprint_conflicts(centres, 10., dy) == 0

tests/unit/test_steady_pinball.py

@@ -0,0 +1,128 @@
+"""Real config loading and pure structural update for the frozen development case."""
+import importlib.util
+import math
+from pathlib import Path
+
+import numpy as np
+import pytest
+
+path = Path(__file__).resolve().parents[2] / 'research/steady_pinball/run.py'
+spec = importlib.util.spec_from_file_location('steady_pinball_run', path)
+runner = importlib.util.module_from_spec(spec)
+spec.loader.exec_module(runner)
+
+
+def test_actual_loader_and_paper_geometry(tmp_path):
+    import json
+    from CelerisLab.config import load_lbm_config
+    p = tmp_path/'config.json'
+    p.write_text(json.dumps(runner.config()))
+    cfg = load_lbm_config(str(p))
+    cfg.validate()
+    assert (cfg.nx, cfg.ny, cfg.viscosity, cfg.velocity) == (1280, 512, .004, .01)
+    assert cfg.collision == 'MRT' and cfg.y_wall_bc == 'bounce_back'
+    assert runner.U * runner.D / runner.NU == 50.
+    assert runner.CENTRES == ((600., 255.5), (626., 270.5), (626., 240.5))
+
+
+def test_structure_rest_equilibrium_and_energy_decay():
+    s = runner.Structure(zeta=.01)
+    assert s.candidate(0.) == (0., 0.)
+    assert s.mass == pytest.approx(10*3*math.pi*100)
+    s.y, s.v = .2, 0.
+    # One damped period: independent continuous solution at total elapsed time.
+    for _ in range(runner.PERIOD):
+        s.y, s.v = s.candidate(0.)
+    t = runner.PERIOD
+    a = s.zeta*s.omega
+    w = s.omega*math.sqrt(1-s.zeta**2)
+    expected = .2*math.exp(-a*t)*(math.cos(w*t)+a/w*math.sin(w*t))
+    assert s.y == pytest.approx(expected, abs=2e-12)
+    assert .5*s.mass*s.v*s.v+.5*s.stiffness*s.y*s.y < .5*s.stiffness*.2**2
+    s.y, s.v = .3, 0.
+    assert s.candidate(s.stiffness*.3) == pytest.approx((.3, 0.), abs=1e-15)
+
+
+def test_report_uses_completed_rows_and_net_force():
+    rows = np.zeros((4, 15))
+    rows[:, 0] = np.arange(1, 5)
+    rows[:, 1] = 2.
+    rows[:, 3:9] = 1.
+    got = runner.summarize(rows)
+    assert got[0]['end_step'] == 4
+    assert got[0]['y_rms_D'] == .1
+    assert got[0]['fy_rms'] == 6.
+
+
+@pytest.mark.parametrize('case', ['Z0', 'M2', 'R2'])
+def test_zero_damping_cases_conserve_unforced_energy_and_match_forced_solution(case):
+    s = runner.Structure(*runner.STRUCTURES[case])
+    assert s.zeta == s.damping == 0.
+    s.y, s.v = .2, 1.e-5
+    y0, v0 = s.y, s.v
+    energy = .5*s.mass*v0**2 + .5*s.stiffness*y0**2
+    for _ in range(12345):
+        s.y, s.v = s.candidate(0.)
+    assert .5*s.mass*s.v**2 + .5*s.stiffness*s.y**2 == pytest.approx(energy, rel=2e-11)
+    force, elapsed = 1.e-4, 3210
+    s.y, s.v = y0, v0
+    for _ in range(elapsed):
+        s.y, s.v = s.candidate(force)
+    phase = s.omega*elapsed
+    equilibrium = force/s.stiffness
+    expected_y = equilibrium+(y0-equilibrium)*math.cos(phase)+v0*math.sin(phase)/s.omega
+    expected_v = -(y0-equilibrium)*s.omega*math.sin(phase)+v0*math.cos(phase)
+    assert (s.y, s.v) == pytest.approx((expected_y, expected_v), abs=2e-11)
+
+
+def test_predeclared_comparisons_change_structure_only():
+    z, m, r = [runner.Structure(*runner.STRUCTURES[k]) for k in ['Z0', 'M2', 'R2']]
+    assert m.mass/z.mass == pytest.approx(.2)
+    assert m.stiffness/z.stiffness == pytest.approx(.2)
+    assert r.mass == m.mass
+    assert r.stiffness/m.stiffness == pytest.approx(.36)
+    assert [runner.STEPS*s.frequency for s in [z, m, r]] == pytest.approx([60., 60., 36.])
+
+
+@pytest.mark.parametrize('diameter', [20, 40, 60])
+def test_diffusive_scaling_preserves_physical_geometry_and_duration(tmp_path, diameter):
+    import json
+    from CelerisLab.config import load_lbm_config
+    scale = diameter/20
+    raw = runner.config(diameter)
+    p = tmp_path/'scaled.json'
+    p.write_text(json.dumps(raw))
+    cfg = load_lbm_config(str(p))
+    cfg.validate()
+    assert cfg.velocity*diameter/cfg.viscosity == pytest.approx(50.)
+    assert (cfg.nx-1)/diameter == 1279/20
+    assert (cfg.ny-2)/diameter == 510/20
+    for original, mapped in zip(runner.CENTRES+runner.PROBES,
+                               runner.scaled_points(runner.CENTRES+runner.PROBES, scale)):
+        assert mapped[0]/diameter == pytest.approx(original[0]/20)
+        assert (mapped[1]-.5)/diameter == pytest.approx((original[1]-.5)/20)
+    old = runner.Structure(*runner.STRUCTURES['M2'])
+    new = runner.Structure(2., old.frequency/scale**2, diameter=diameter)
+    assert new.mass/old.mass == pytest.approx(scale**2)
+    assert new.stiffness/old.stiffness == pytest.approx(1/scale**2)
+    assert new.damping == 0.
+    assert cfg.velocity/(new.frequency*diameter) == pytest.approx(5.)
+    assert runner.STEPS*scale**2*cfg.velocity/diameter == pytest.approx(300.)
+    assert runner.WARMUP*scale**2*cfg.velocity/diameter == pytest.approx(256.)
+    # A physical held force maps as F_fine=F_coarse/scale in two dimensions.
+    old.y, old.v = .3, .0002
+    new.y, new.v = scale*old.y, old.v/scale
+    expected = old.candidate(.0001)
+    for _ in range(round(scale**2)):
+        new.y, new.v = new.candidate(.0001/scale)
+    assert (new.y/scale, new.v*scale) == pytest.approx(expected, abs=2e-12)
+
+
+def test_scaled_summary_uses_requested_units_and_completed_rows():
+    rows = np.zeros((5, 15))
+    rows[:, 0] = np.arange(1, 6)
+    rows[:, 1] = 4.
+    got = runner.summarize(rows, diameter=40, block_steps=3)
+    assert [(x['start_step'], x['end_step']) for x in got] == [(1, 3), (4, 5)]
+    assert all(x['y_rms_D'] == .1 for x in got)
+    assert runner.summarize(rows[:0], diameter=40) == []