Unify convex hull limits across generated assets

embodichain/gen_sim/action_agent_pipeline/defaults.py

@@ -23,6 +23,7 @@
 
 __all__ = [
     "ACTION_AGENT_CONFIG_DEFAULTS",
+    "CONVEX_HULL_DEFAULTS",
     "DEFAULT_MAX_EPISODES",
     "DEFAULT_MAX_EPISODE_STEPS",
     "DEFAULT_SURFACE_RELEASE_CLEARANCE",
@@ -58,8 +59,33 @@ def generation_defaults_section(name: str) -> dict[str, Any]:
     return section
 
 
+def _load_convex_hull_defaults() -> dict[str, Any]:
+    physics = generation_defaults_section("physics")
+    convex_hulls = physics.get("convex_hulls")
+    if not isinstance(convex_hulls, dict):
+        raise ValueError("Generation default physics.convex_hulls must be a mapping.")
+    value_paths = (
+        ("target",),
+        ("container",),
+        ("moved",),
+        ("extra_rigid",),
+        ("table",),
+    )
+    for value_path in value_paths:
+        value: Any = convex_hulls
+        for key in value_path:
+            value = value.get(key) if isinstance(value, dict) else None
+        if isinstance(value, bool) or not isinstance(value, int) or value < 1:
+            dotted_path = ".".join(("physics", "convex_hulls", *value_path))
+            raise ValueError(
+                f"Generation default {dotted_path} must be a positive integer."
+            )
+    return convex_hulls
+
+
 _TASK_DEFAULTS = generation_defaults_section("task")
 _GEOMETRY_DEFAULTS = generation_defaults_section("geometry")
+CONVEX_HULL_DEFAULTS = _load_convex_hull_defaults()
 
 DEFAULT_TASK_NAME = str(_TASK_DEFAULTS["default_name"])
 DEFAULT_MAX_EPISODES = int(_TASK_DEFAULTS["max_episodes"])

embodichain/gen_sim/action_agent_pipeline/generation/action_agent_config.py

@@ -24,6 +24,7 @@
 import warnings
 
 from embodichain.gen_sim.action_agent_pipeline.defaults import (
+    CONVEX_HULL_DEFAULTS,
     DEFAULT_MAX_EPISODES,
     DEFAULT_MAX_EPISODE_STEPS,
     DEFAULT_SURFACE_RELEASE_CLEARANCE,
@@ -843,7 +844,7 @@ def _build_arrangement_line_bundle(
                 max_convex_hull_num=(
                     _moved_rigid_object_max_convex_hull_num(obj)
                     if obj.source_uid in moved_source_uids
-                    else 1
+                    else CONVEX_HULL_DEFAULTS["extra_rigid"]
                 ),
                 mesh_normalizer=mesh_normalizer,
             )
@@ -1074,7 +1075,7 @@ def _build_stacking_bundle(
                     else (
                         _container_rigid_object_max_convex_hull_num(obj)
                         if obj.source_uid == spec.anchor_source_uid
-                        else 1
+                        else CONVEX_HULL_DEFAULTS["extra_rigid"]
                     )
                 ),
                 mesh_normalizer=mesh_normalizer,

embodichain/gen_sim/action_agent_pipeline/generation/action_agent_config_defaults.yaml

@@ -95,7 +95,6 @@ physics:
     static_friction: 0.95
     dynamic_friction: 0.9
     restitution: 0.01
-    max_convex_hull_num: 1
   rigid_object:
     mass: 0.2
     static_friction: 0.95
@@ -115,6 +114,7 @@ physics:
     container: 24
     moved: 16
     extra_rigid: 1
+    table: 1
 
 grasp:
   affordance_stabilization_steps: 10

embodichain/gen_sim/action_agent_pipeline/generation/config_blocks.py

@@ -21,6 +21,7 @@
 from typing import Any
 
 from embodichain.gen_sim.action_agent_pipeline.defaults import (
+    CONVEX_HULL_DEFAULTS,
     DEFAULT_TASK_NAME,
     generation_defaults_section,
 )
@@ -81,22 +82,12 @@
 _VISUAL_MATERIAL_DEFAULTS = generation_defaults_section("visual_material")
 _BACKGROUND_DEFAULTS = _PHYSICS_DEFAULTS["background"]
 _RIGID_OBJECT_DEFAULTS = _PHYSICS_DEFAULTS["rigid_object"]
-_CONVEX_HULL_DEFAULTS = _PHYSICS_DEFAULTS["convex_hulls"]
 _TABLE_VISUAL_MATERIAL_DEFAULTS = _VISUAL_MATERIAL_DEFAULTS["table"]
-_BACKGROUND_MAX_CONVEX_HULL_NUM = int(_BACKGROUND_DEFAULTS["max_convex_hull_num"])
-_TARGET_MAX_CONVEX_HULL_NUM = int(_CONVEX_HULL_DEFAULTS["target"])
-_CONTAINER_MAX_CONVEX_HULL_NUM = int(_CONVEX_HULL_DEFAULTS["container"])
-_MOVED_MAX_CONVEX_HULL_NUM = int(_CONVEX_HULL_DEFAULTS["moved"])
-_EXTRA_RIGID_MAX_CONVEX_HULL_NUM = int(_CONVEX_HULL_DEFAULTS["extra_rigid"])
 _ROBOT_VIEW_LABEL = "robot_view"
 _AUDIENCE_VIEW_LABEL = "audience_view"
 _AUDIENCE_VIEW_Z_ROTATION_DEGREES = 180.0
 
-_BACKGROUND_ATTRS = {
-    key: float(value)
-    for key, value in _BACKGROUND_DEFAULTS.items()
-    if key != "max_convex_hull_num"
-}
+_BACKGROUND_ATTRS = {key: float(value) for key, value in _BACKGROUND_DEFAULTS.items()}
 
 _RIGID_OBJECT_ATTRS = {
     key: (
@@ -705,10 +696,7 @@ def _make_background_config(
         "body_type": "kinematic",
         "init_pos": _clean_vector3(obj.config.get("init_pos", [0.0, 0.0, 0.0])),
         "init_rot": _clean_vector3(obj.config.get("init_rot", [0.0, 0.0, 0.0])),
-        "max_convex_hull_num": _role_limited_max_convex_hull_num(
-            obj,
-            _BACKGROUND_MAX_CONVEX_HULL_NUM,
-        ),
+        "max_convex_hull_num": CONVEX_HULL_DEFAULTS["table"],
     }
 
 
@@ -732,10 +720,7 @@ def _make_extra_background_config(
         "body_type": str(obj.config.get("body_type", "static")),
         "init_pos": _clean_vector3(obj.config.get("init_pos", [0.0, 0.0, 0.0])),
         "init_rot": _clean_vector3(obj.config.get("init_rot", [0.0, 0.0, 0.0])),
-        "max_convex_hull_num": _role_limited_max_convex_hull_num(
-            obj,
-            _BACKGROUND_MAX_CONVEX_HULL_NUM,
-        ),
+        "max_convex_hull_num": CONVEX_HULL_DEFAULTS["table"],
     }
     return config
 
@@ -753,7 +738,7 @@ def _make_target_object_config(
         obj,
         runtime_uid,
         target_scale,
-        max_convex_hull_num=_TARGET_MAX_CONVEX_HULL_NUM,
+        max_convex_hull_num=CONVEX_HULL_DEFAULTS["target"],
         mesh_fpath=replacement.mesh_path if replacement else None,
         mesh_normalizer=mesh_normalizer,
     )
@@ -773,10 +758,7 @@ def _make_container_object_config(
         obj,
         runtime_uid,
         body_scale,
-        max_convex_hull_num=_role_limited_max_convex_hull_num(
-            obj,
-            _CONTAINER_MAX_CONVEX_HULL_NUM,
-        ),
+        max_convex_hull_num=CONVEX_HULL_DEFAULTS["container"],
         mesh_normalizer=mesh_normalizer,
     )
 
@@ -850,10 +832,7 @@ def _make_extra_rigid_object_config(
         obj,
         runtime_uid or _normalize_runtime_uid(obj.source_uid),
         body_scale,
-        max_convex_hull_num=_role_limited_max_convex_hull_num(
-            obj,
-            _EXTRA_RIGID_MAX_CONVEX_HULL_NUM,
-        ),
+        max_convex_hull_num=CONVEX_HULL_DEFAULTS["extra_rigid"],
         mesh_normalizer=mesh_normalizer,
     )
     config["body_type"] = "dynamic"
@@ -869,19 +848,12 @@ def _make_relative_rigid_object_config(
     max_convex_hull_num: int,
     mesh_normalizer: GlbGeometryNormalizer,
 ) -> dict[str, Any]:
-    if max_convex_hull_num == _TARGET_MAX_CONVEX_HULL_NUM:
-        resolved_max_convex_hull_num = max_convex_hull_num
-    else:
-        resolved_max_convex_hull_num = _role_limited_max_convex_hull_num(
-            obj,
-            max_convex_hull_num,
-        )
     config = _make_rigid_object_config(
         scene_dir,
         obj,
         runtime_uid,
         body_scale,
-        max_convex_hull_num=resolved_max_convex_hull_num,
+        max_convex_hull_num=max_convex_hull_num,
         mesh_normalizer=mesh_normalizer,
     )
     config["body_type"] = "dynamic"
@@ -919,24 +891,14 @@ def _make_rigid_object_config(
     return config
 
 
-def _role_limited_max_convex_hull_num(
-    obj: _SceneObject,
-    role_max_convex_hull_num: int,
-) -> int:
-    source_max_convex_hull_num = obj.config.get("max_convex_hull_num")
-    if source_max_convex_hull_num is None:
-        return role_max_convex_hull_num
-    return max(1, min(int(source_max_convex_hull_num), role_max_convex_hull_num))
-
-
-def _moved_rigid_object_max_convex_hull_num(obj: _SceneObject) -> int:
+def _moved_rigid_object_max_convex_hull_num(_obj: _SceneObject) -> int:
     """Return the configured convex-decomposition limit for a moved object."""
-    return _role_limited_max_convex_hull_num(obj, _MOVED_MAX_CONVEX_HULL_NUM)
+    return CONVEX_HULL_DEFAULTS["moved"]
 
 
-def _container_rigid_object_max_convex_hull_num(obj: _SceneObject) -> int:
+def _container_rigid_object_max_convex_hull_num(_obj: _SceneObject) -> int:
     """Return the configured convex-decomposition limit for a container."""
-    return _role_limited_max_convex_hull_num(obj, _CONTAINER_MAX_CONVEX_HULL_NUM)
+    return CONVEX_HULL_DEFAULTS["container"]
 
 
 def _relative_rigid_object_max_convex_hull_num(
@@ -948,15 +910,14 @@ def _relative_rigid_object_max_convex_hull_num(
             placement.relation == "inside"
             and runtime_uid == placement.reference_runtime_uid
         ):
-            return _CONTAINER_MAX_CONVEX_HULL_NUM
-    task_uids = {
-        uid
-        for placement in spec.placements
-        for uid in (placement.moved_runtime_uid, placement.reference_runtime_uid)
-    }
-    if runtime_uid in task_uids:
-        return _TARGET_MAX_CONVEX_HULL_NUM
-    return _EXTRA_RIGID_MAX_CONVEX_HULL_NUM
+            return CONVEX_HULL_DEFAULTS["container"]
+    if any(runtime_uid == placement.moved_runtime_uid for placement in spec.placements):
+        return CONVEX_HULL_DEFAULTS["moved"]
+    if any(
+        runtime_uid == placement.reference_runtime_uid for placement in spec.placements
+    ):
+        return CONVEX_HULL_DEFAULTS["target"]
+    return CONVEX_HULL_DEFAULTS["extra_rigid"]
 
 
 def _relative_static_background_max_convex_hull_num(
@@ -968,8 +929,8 @@ def _relative_static_background_max_convex_hull_num(
             placement.relation == "inside"
             and runtime_uid == placement.reference_runtime_uid
         ):
-            return _CONTAINER_MAX_CONVEX_HULL_NUM
-    return _BACKGROUND_MAX_CONVEX_HULL_NUM
+            return CONVEX_HULL_DEFAULTS["container"]
+    return CONVEX_HULL_DEFAULTS["table"]
 
 
 def _make_shape_config(

tests/gen_sim/action_agent_pipeline/test_generation_defaults.py

@@ -17,11 +17,13 @@
 from __future__ import annotations
 
 from pathlib import Path
+from types import SimpleNamespace
 
 import pytest
 
 from embodichain.gen_sim.action_agent_pipeline.defaults import (
     ACTION_AGENT_CONFIG_DEFAULTS,
+    CONVEX_HULL_DEFAULTS,
     DEFAULT_MAX_EPISODES,
     DEFAULT_MAX_EPISODE_STEPS,
     DEFAULT_SURFACE_RELEASE_CLEARANCE,
@@ -30,8 +32,12 @@
     generation_defaults_section,
 )
 from embodichain.gen_sim.action_agent_pipeline.generation.config_blocks import (
+    _container_rigid_object_max_convex_hull_num,
+    _make_background_config,
+    _make_extra_rigid_object_config,
     _make_target_object_config,
     _moved_rigid_object_max_convex_hull_num,
+    _relative_rigid_object_max_convex_hull_num,
 )
 from embodichain.gen_sim.action_agent_pipeline.generation.config_types import (
     _SceneObject,
@@ -79,7 +85,14 @@ def test_generation_defaults_expose_required_hyperparameter_sections() -> None:
     }
 
     assert expected_sections <= ACTION_AGENT_CONFIG_DEFAULTS.keys()
-    assert "moved" in ACTION_AGENT_CONFIG_DEFAULTS["physics"]["convex_hulls"]
+    convex_hulls = ACTION_AGENT_CONFIG_DEFAULTS["physics"]["convex_hulls"]
+    assert {
+        "target",
+        "container",
+        "moved",
+        "extra_rigid",
+        "table",
+    } == set(convex_hulls)
 
 
 def test_affordance_stabilization_steps_is_a_non_negative_integer() -> None:
@@ -111,21 +124,88 @@ def test_generated_rigid_object_uses_complete_physics_defaults(
     assert {
         key: config["attrs"][key] for key in _EXPECTED_RIGID_OBJECT_PHYSICS
     } == _EXPECTED_RIGID_OBJECT_PHYSICS
+    assert config["max_convex_hull_num"] == CONVEX_HULL_DEFAULTS["target"]
 
 
 def test_generation_defaults_section_rejects_unknown_section() -> None:
     with pytest.raises(ValueError, match="must be a mapping"):
         generation_defaults_section("missing")
 
 
-def test_moved_convex_hull_limit_is_loaded_from_defaults() -> None:
-    moved_default = ACTION_AGENT_CONFIG_DEFAULTS["physics"]["convex_hulls"]["moved"]
+def test_convex_hull_limits_are_loaded_from_yaml() -> None:
+    convex_hulls = ACTION_AGENT_CONFIG_DEFAULTS["physics"]["convex_hulls"]
+
+    assert CONVEX_HULL_DEFAULTS["target"] == convex_hulls["target"]
+    assert CONVEX_HULL_DEFAULTS["container"] == convex_hulls["container"]
+    assert CONVEX_HULL_DEFAULTS["moved"] == convex_hulls["moved"]
+    assert CONVEX_HULL_DEFAULTS["extra_rigid"] == convex_hulls["extra_rigid"]
+    assert CONVEX_HULL_DEFAULTS["table"] == convex_hulls["table"]
+
+
+def test_scene_role_limits_override_source_convex_hull_limit(tmp_path: Path) -> None:
     moved_object = _SceneObject("cube", "rigid_object", {})
     source_limited_object = _SceneObject(
         "cup",
         "rigid_object",
         {"max_convex_hull_num": 4},
     )
+    table = _SceneObject(
+        "table",
+        "background",
+        {"shape": {"shape_type": "Box"}, "max_convex_hull_num": 4},
+    )
+    extra = _SceneObject(
+        "spoon",
+        "rigid_object",
+        {"shape": {"shape_type": "Box"}, "max_convex_hull_num": 4},
+    )
+    normalizer = GlbGeometryNormalizer(output_dir=tmp_path / "normalized")
+    table_config = _make_background_config(tmp_path, table, normalizer)
+    extra_config = _make_extra_rigid_object_config(
+        tmp_path,
+        extra,
+        [1.0, 1.0, 1.0],
+        normalizer,
+    )
 
-    assert _moved_rigid_object_max_convex_hull_num(moved_object) == moved_default
-    assert _moved_rigid_object_max_convex_hull_num(source_limited_object) == 4
+    assert _moved_rigid_object_max_convex_hull_num(moved_object) == (
+        CONVEX_HULL_DEFAULTS["moved"]
+    )
+    assert _moved_rigid_object_max_convex_hull_num(source_limited_object) == (
+        CONVEX_HULL_DEFAULTS["moved"]
+    )
+    assert _container_rigid_object_max_convex_hull_num(source_limited_object) == (
+        CONVEX_HULL_DEFAULTS["container"]
+    )
+    assert table_config["max_convex_hull_num"] == CONVEX_HULL_DEFAULTS["table"]
+    assert extra_config["max_convex_hull_num"] == CONVEX_HULL_DEFAULTS["extra_rigid"]
+
+
+def test_relative_object_roles_use_distinct_yaml_limits() -> None:
+    spec = SimpleNamespace(
+        placements=(
+            SimpleNamespace(
+                relation="inside",
+                moved_runtime_uid="apple",
+                reference_runtime_uid="basket",
+            ),
+            SimpleNamespace(
+                relation="on",
+                moved_runtime_uid="cup",
+                reference_runtime_uid="pad",
+            ),
+        )
+    )
+
+    assert _relative_rigid_object_max_convex_hull_num("basket", spec) == (
+        CONVEX_HULL_DEFAULTS["container"]
+    )
+    assert _relative_rigid_object_max_convex_hull_num("apple", spec) == (
+        CONVEX_HULL_DEFAULTS["moved"]
+    )
+    assert _relative_rigid_object_max_convex_hull_num("pad", spec) == (
+        CONVEX_HULL_DEFAULTS["target"]
+    )
+    assert _relative_rigid_object_max_convex_hull_num("spoon", spec) == (
+        CONVEX_HULL_DEFAULTS["extra_rigid"]
+    )