Port analyze_assembly to solver/datagen/analysis.py #4

New Issue

forbes · 2026-02-02T19:32:27Z

forbes commented

2026-02-02 19:32:27 +00:00

Summary

Move the analyze_assembly() function from data/synthetic/pebble-game.py (L933-1039) into solver/datagen/analysis.py.

Function overview

analyze_assembly() is the combined analysis entry point that runs both the pebble game (combinatorial) and Jacobian verification (numerical) on an assembly, returning a ConstraintAnalysis result.

Key behavior:

Optionally grounds a body by adding a virtual ground body (id=-1) with a fixed joint
Runs the pebble game incrementally over all joints
Builds and analyzes the constraint Jacobian
Computes geometric degeneracy count (combinatorial independent - Jacobian rank)
Determines rigidity and minimal rigidity

Requirements

Import from solver.datagen.types (RigidBody, Joint, JointType, ConstraintAnalysis)
Import from solver.datagen.pebble_game (PebbleGame3D)
Import from solver.datagen.jacobian (JacobianVerifier)
Full type annotations
No behavioral changes
__all__ = ["analyze_assembly"]

Depends on

#1 (shared types)
#2 (PebbleGame3D)
#3 (JacobianVerifier)

## Summary Move the `analyze_assembly()` function from `data/synthetic/pebble-game.py` (L933-1039) into `solver/datagen/analysis.py`. ## Function overview `analyze_assembly()` is the combined analysis entry point that runs both the pebble game (combinatorial) and Jacobian verification (numerical) on an assembly, returning a `ConstraintAnalysis` result. Key behavior: - Optionally grounds a body by adding a virtual ground body (id=-1) with a fixed joint - Runs the pebble game incrementally over all joints - Builds and analyzes the constraint Jacobian - Computes geometric degeneracy count (combinatorial independent - Jacobian rank) - Determines rigidity and minimal rigidity ## Requirements - [ ] Import from `solver.datagen.types` (RigidBody, Joint, JointType, ConstraintAnalysis) - [ ] Import from `solver.datagen.pebble_game` (PebbleGame3D) - [ ] Import from `solver.datagen.jacobian` (JacobianVerifier) - [ ] Full type annotations - [ ] No behavioral changes - [ ] `__all__ = ["analyze_assembly"]` ## Depends on - #1 (shared types) - #2 (PebbleGame3D) - #3 (JacobianVerifier)

forbes added the phase:1 port labels 2026-02-02 19:32:27 +00:00

forbes referenced this issue

2026-02-02 19:32:42 +00:00

Port SyntheticAssemblyGenerator to solver/datagen/generator.py #5

forbes referenced this issue

2026-02-02 19:33:37 +00:00

Ground truth labeling pipeline #9

forbes referenced this issue from a commit

2026-02-02 19:52:05 +00:00

feat: port analyze_assembly to solver/datagen/analysis.py

forbes closed this issue

2026-02-02 19:52:06 +00:00