98051ba0c9
- Move existing OndselSolver, GNN ML layer, and tooling into GNN/ directory for integration in later phases - Add Create addon scaffold: package.xml, Init.py - Add expression DAG with eval, symbolic diff, simplification - Add parameter table with fixed/free variable tracking - Add quaternion rotation as polynomial Expr trees - Add RigidBody entity (7 DOF: position + unit quaternion) - Add constraint classes: Coincident, DistancePointPoint, Fixed - Add Newton-Raphson solver with symbolic Jacobian + numpy lstsq - Add pre-solve passes: substitution + single-equation - Add DOF counting via Jacobian SVD rank - Add KindredSolver IKCSolver bridge for kcsolve integration - Add 82 unit tests covering all modules Registers as 'kindred' solver via kcsolve.register_solver() when loaded by Create's addon_loader.
40 lines
784 B
YAML
40 lines
784 B
YAML
services:
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train:
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build:
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context: .
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dockerfile: Dockerfile
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target: base
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volumes:
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- .:/workspace
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- ./data:/workspace/data
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deploy:
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resources:
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reservations:
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devices:
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- driver: nvidia
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count: all
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capabilities: [gpu]
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command: make train
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environment:
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- CUDA_VISIBLE_DEVICES=${CUDA_VISIBLE_DEVICES:-0}
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- WANDB_API_KEY=${WANDB_API_KEY:-}
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test:
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build:
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context: .
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dockerfile: Dockerfile
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target: cpu-only
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volumes:
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- .:/workspace
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command: make check
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data-gen:
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build:
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context: .
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dockerfile: Dockerfile
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target: base
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volumes:
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- .:/workspace
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- ./data:/workspace/data
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command: make data-gen
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