feat: closed-loop AR4 control + DLS-IK + FVM static sweep#1

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NicholasEhsanRoy merged 39 commits into

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May 7, 2026

Commits on May 2, 2026

feat: graph-native FVM fluid node (M0-M3)

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feat: FVM validation suite (T0-T4 + perf) + IBM force-field fix

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feat: surface-integral IBM force extraction (Fix A1)

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fix(A3): T3 re-run with surface-integral force, shell=(1.5,3.5)

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perf(C): precompute mesh.V_owner / V_neighbour to skip constant-folding

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feat(B): FVMFluidNode supports surface_integral force_method + T4 res bump

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perf(P1): add FFT-based Poisson + Helmholtz solvers (cuFFT path)

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test(P2): unconfined sphere drag vs Schiller-Naumann + perf inline RC

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fix(P3): semi-implicit Maxey-Riley integrator for IBM-coupled 6DOF

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test(P4): resolution sweep for confined Stokes drag (3 λ × 3 cpr)

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test(P4b): diagnose λ=0.1 regression — was test-config bug, not RC

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diag(R4-P1,P2): root cause of confined Stokes drag errors

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diag(R4-P3): T4 NaN was JAX scan, not physics

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diag(R4-P4): perf sweep — dense beats FFT at every size on RTX 2060

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feat(R5-Fix2): momentum-deficit drag method

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diag(R5-Fix3): T4 scan NaN was Re=100, not JAX

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feat(R6): Poiseuille inlet helpers + retire T4 equilibrium target

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feat(M0): lifting/homogenisation inlet BC for DST-compatible Dirichlet

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feat(M2): GNNFluxCorrectedFVMNode architecture, sweep config

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feat(M1): first MIME pulsatile millibot scenario, BEM comparison

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Commits on May 3, 2026

Commits on May 7, 2026

feat(ar4+ik): closed-loop EE position+orientation tracking with DLS-IK + computed-torque PD

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