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d513eb2 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 | """Compare measured single-cup responses; keep solver qualifications separate."""
import json
from pathlib import Path
import numpy as np
import matplotlib
matplotlib.use('Agg')
import matplotlib.pyplot as plt
from analyze_liquid_calibration import slosh_fit
ROOT=Path(__file__).resolve().parents[1]
cases=[('Newton MPM / 2 mm','liquid_calibration_20261005/Q1d_unilateral_fine2mm','#2e718f'),
('Newton WCSPH / 2 mm','native_sph_reference_20261006/weak_fine2mm','#c57630'),
('SPlisHSPlasH DFSPH / 3 mm','liquid_calibration_20261005/dfsph_weak_clearance','#698747')]
fig,axes=plt.subplots(1,3,figsize=(14.5,4.2),layout='constrained');summary=[]
for label,path,color in cases:
folder=ROOT/'results'/path;report=json.loads((folder/'report.json').read_text());rows=json.loads((folder/'trajectory.json').read_text())
fit=slosh_fit(rows,report);t=np.array([r['time'] for r in rows]);release=report['args']['settle']+report['args']['motion_time']
mask=t>=release
axes[0].plot(t[mask]-release,[1000*r['fluid_com_local'][0] for r,m in zip(rows,mask) if m],color=color,
label=f"{label}\nf={fit['fit_frequency_hz']:.3f} Hz; decay={fit['decay_rate_per_s']:.2f}/s",lw=1.7)
axes[1].plot(t,[r['height_ratio'] for r in rows],color=color,lw=1.7)
axes[2].plot(t,[r['center_height_ratio'] for r in rows],color=color,lw=1.7)
summary.append({'label':label,'source':str(folder),'slosh':fit,'final_height_ratio':rows[-1]['height_ratio'],
'final_center_ratio':rows[-1]['center_height_ratio'],'escaped_fraction':rows[-1]['escape_fraction']})
axes[0].set(xlabel='Time after pulse (s)',ylabel='Fluid COM relative to cup (mm)',title='Free response',xlim=(0,2));axes[0].legend(fontsize=8)
for ax,title,key in zip(axes[1:],('Liquid height','Vertical center of mass'),('Height / mass-implied height','COM height / uniform-column COM')):
ax.axhspan(.95,1.05,color='#487f65',alpha=.10);ax.axhline(1,color='#75818b',lw=.8,ls=':')
ax.set(xlabel='Simulation time (s)',ylabel=key,title=title,xlim=(0,3.15),ylim=(.9,1.2))
for ax in axes:ax.grid(alpha=.18);ax.spines[['right','top']].set_visible(False)
fig.suptitle('Same cup and mass; independent numerical configurations',fontsize=14)
fig.supxlabel('WCSPH startup escape: 0.00082%. DFSPH uses initial wall clearance. Single-cup evidence does not certify a full robot episode.',fontsize=9)
out=ROOT/'results/studio_demos_verified_20261005'
fig.savefig(out/'latest_fluid_comparison.png',dpi=180);fig.savefig(out/'latest_fluid_comparison.pdf')
(out/'latest_fluid_comparison.json').write_text(json.dumps(summary,indent=2))
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