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.
116 lines
3.7 KiB
Python
116 lines
3.7 KiB
Python
#!/usr/bin/env python3
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"""Generate synthetic assembly dataset for kindred-solver training.
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Usage (argparse fallback — always available)::
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python scripts/generate_synthetic.py --num-assemblies 1000 --num-workers 4
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Usage (Hydra — when hydra-core is installed)::
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python scripts/generate_synthetic.py num_assemblies=1000 num_workers=4
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"""
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from __future__ import annotations
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def _try_hydra_main() -> bool:
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"""Attempt to run via Hydra. Returns *True* if Hydra handled it."""
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try:
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import hydra # type: ignore[import-untyped]
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from omegaconf import DictConfig, OmegaConf # type: ignore[import-untyped]
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except ImportError:
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return False
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@hydra.main(
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config_path="../configs/dataset",
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config_name="synthetic",
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version_base=None,
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)
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def _run(cfg: DictConfig) -> None: # type: ignore[type-arg]
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from solver.datagen.dataset import DatasetConfig, DatasetGenerator
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config_dict = OmegaConf.to_container(cfg, resolve=True)
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config = DatasetConfig.from_dict(config_dict) # type: ignore[arg-type]
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DatasetGenerator(config).run()
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_run() # type: ignore[no-untyped-call]
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return True
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def _argparse_main() -> None:
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"""Fallback CLI using argparse."""
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import argparse
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parser = argparse.ArgumentParser(
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description="Generate synthetic assembly dataset",
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)
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parser.add_argument(
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"--config",
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type=str,
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default=None,
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help="Path to YAML config file (optional)",
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)
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parser.add_argument("--num-assemblies", type=int, default=None, help="Number of assemblies")
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parser.add_argument("--output-dir", type=str, default=None, help="Output directory")
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parser.add_argument("--shard-size", type=int, default=None, help="Assemblies per shard")
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parser.add_argument("--body-count-min", type=int, default=None, help="Min body count")
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parser.add_argument("--body-count-max", type=int, default=None, help="Max body count")
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parser.add_argument("--grounded-ratio", type=float, default=None, help="Grounded ratio")
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parser.add_argument("--seed", type=int, default=None, help="Random seed")
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parser.add_argument("--num-workers", type=int, default=None, help="Parallel workers")
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parser.add_argument(
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"--checkpoint-every",
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type=int,
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default=None,
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help="Checkpoint interval (shards)",
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)
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parser.add_argument(
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"--no-resume",
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action="store_true",
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help="Do not resume from existing checkpoints",
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)
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args = parser.parse_args()
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from solver.datagen.dataset import (
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DatasetConfig,
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DatasetGenerator,
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parse_simple_yaml,
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)
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config_dict: dict[str, object] = {}
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if args.config:
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config_dict = parse_simple_yaml(args.config) # type: ignore[assignment]
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# CLI args override config file (only when explicitly provided)
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_override_map = {
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"num_assemblies": args.num_assemblies,
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"output_dir": args.output_dir,
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"shard_size": args.shard_size,
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"body_count_min": args.body_count_min,
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"body_count_max": args.body_count_max,
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"grounded_ratio": args.grounded_ratio,
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"seed": args.seed,
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"num_workers": args.num_workers,
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"checkpoint_every": args.checkpoint_every,
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}
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for key, val in _override_map.items():
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if val is not None:
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config_dict[key] = val
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if args.no_resume:
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config_dict["resume"] = False
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config = DatasetConfig.from_dict(config_dict) # type: ignore[arg-type]
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DatasetGenerator(config).run()
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def main() -> None:
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"""Entry point: try Hydra first, fall back to argparse."""
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if not _try_hydra_main():
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_argparse_main()
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if __name__ == "__main__":
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main()
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