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.
25 lines
411 B
YAML
25 lines
411 B
YAML
# Baseline GIN model config
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name: baseline
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architecture: gin
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encoder:
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num_layers: 3
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hidden_dim: 128
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dropout: 0.1
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node_features_dim: 22
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edge_features_dim: 22
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heads:
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edge_classification:
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enabled: true
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hidden_dim: 64
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graph_classification:
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enabled: true
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num_classes: 4 # rigid, under, over, mixed
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joint_type:
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enabled: true
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num_classes: 12
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dof_regression:
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enabled: true
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