address comments

Signed-off-by: zhx06 <zihaox@nvidia.com>

Author: zhx06

isaaclab_arena/assets/dummy_object.py

@@ -5,15 +5,12 @@
 from __future__ import annotations
 
 import torch
-from typing import TYPE_CHECKING
+import trimesh
 
 from isaaclab_arena.relations.relations import IsAnchor, Relation, RelationBase, UnaryRelation
 from isaaclab_arena.utils.bounding_box import AxisAlignedBoundingBox, quaternion_to_90_deg_z_quarters
 from isaaclab_arena.utils.pose import Pose
 
-if TYPE_CHECKING:
-    import trimesh
-
 
 class DummyObject:
     """Dummy object for testing purposes without Isaac Sim dependencies."""

isaaclab_arena/cli/isaaclab_arena_cli.py

@@ -76,29 +76,12 @@ def add_isaaclab_arena_cli_args(parser: argparse.ArgumentParser) -> None:
             " layout."
         ),
     )
-    arena_group.add_argument(
-        "--random_yaw_init",
-        action="store_true",
-        default=False,
-        help=(
-            "Randomly rotate objects (except anchors) around the Z-axis for scene variety. "
-            "Collisions use a larger enclosing box; the solver won't optimize this rotation. "
-            "Only affects objects positioned by the placement solver; manually-placed objects are unaffected."
-        ),
-    )
     arena_group.add_argument(
         "--list-variations",
         action="store_true",
         default=False,
         help="Print Hydra-configurable variations for the selected environment and exit.",
     )
-    arena_group.add_argument(
-        "--collision_mode",
-        type=str,
-        choices=["bbox", "mesh"],
-        default="bbox",
-        help="Collision detection mode: 'bbox' (AABB, default) or 'mesh' (sphere-to-SDF, requires Warp).",
-    )
 
 
 def add_env_graph_spec_cli_args(parser: argparse.ArgumentParser) -> None:

isaaclab_arena/environments/arena_env_builder.py

@@ -36,10 +36,8 @@
 )
 from isaaclab_arena.recording.common_terms import CoreEpisodeRecorderTermCfg, VariationEpisodeRecorderTermCfg
 from isaaclab_arena.recording.episode_recorder_manager import EpisodeRecorderTermCfg
-from isaaclab_arena.relations.collision_mode import CollisionMode
 from isaaclab_arena.relations.object_placer_params import ObjectPlacerParams
 from isaaclab_arena.relations.placement_events import PLACEMENT_RESET_EVENT_NAME
-from isaaclab_arena.relations.relation_solver_params import RelationSolverParams
 from isaaclab_arena.tasks.no_task import NoTask
 from isaaclab_arena.utils.configclass import combine_configclass_instances, make_configclass
 from isaaclab_arena.utils.isaaclab_utils.simulation_app import reapply_viewer_cfg
@@ -86,20 +84,9 @@ def _solve_relations(self) -> None:
         """
         objects_with_relations = self.arena_env.scene.get_objects_with_relations()
 
-        # Prefer env-level placer_params; fall back to CLI-constructed defaults.
         placer_params = self.arena_env.placer_params
         if placer_params is None:
-            collision_mode_str = getattr(self.args, "collision_mode", "bbox")
-            mode = CollisionMode.MESH if collision_mode_str == "mesh" else CollisionMode.BBOX
-            placer_params = ObjectPlacerParams(
-                placement_seed=self.args.placement_seed,
-                random_yaw_init=self.args.random_yaw_init,
-                solver_params=RelationSolverParams(
-                    collision_mode=mode,
-                    save_position_history=False,
-                    verbose=False,
-                ),
-            )
+            placer_params = ObjectPlacerParams(placement_seed=self.args.placement_seed)
             if self.args.resolve_on_reset is not None:
                 placer_params.resolve_on_reset = self.args.resolve_on_reset
         self._placement_event_cfg = solve_and_apply_relation_placement(

isaaclab_arena/environments/isaaclab_arena_environment.py

@@ -52,8 +52,8 @@ def __init__(
                 ``"my_module:RLPolicyCfg"``.
             episode_recorder_terms: Additional per-episode recorder terms to record alongside the
                 built-in ones, keyed by name.
-            placer_params: Object placement configuration. When set, used as-is
-                (CLI flags are ignored). When None, params are built from CLI flags.
+            placer_params: Object placement configuration. When None, default
+                ObjectPlacerParams are used.
         """
         self.name = name
         self.scene = scene

isaaclab_arena/relations/mesh_pair_cache.py

@@ -9,17 +9,20 @@
 
 import torch
 from dataclasses import dataclass
-from typing import TYPE_CHECKING
 
-if TYPE_CHECKING:
-    import warp as wp
+import warp as wp
 
-    from isaaclab_arena.assets.object_base import ObjectBase
+from isaaclab_arena.assets.object_base import ObjectBase
 
 
 @dataclass(slots=True)
 class MeshPairCache:
-    """Precomputed per-pair collision data for the vectorized multi-mesh kernel."""
+    """Precomputed per-pair collision data for the vectorized multi-mesh kernel.
+
+    Dimensions: P = num_pairs (ordered subject/obstacle pairs), B = batch_size (num envs),
+    S = total_spheres (sum of sphere counts across all P pairs; each subject object is decomposed
+    into multiple covering spheres via greedy_sphere_decomposition).
+    """
 
     all_centers_local: torch.Tensor
     """(S, 3) sphere centers in each subject's local frame, concatenated across pairs."""
@@ -28,34 +31,34 @@ class MeshPairCache:
     """(S,) sphere radii, concatenated across pairs."""
 
     pair_subject_objs: list[ObjectBase]
-    """Per-pair subject (sphere source) object reference."""
+    """(P,) subject (sphere source) object reference per pair."""
 
     pair_obstacle_objs: list[ObjectBase]
-    """Per-pair obstacle (mesh target) object reference."""
+    """(P,) obstacle (mesh target) object reference per pair."""
 
     pair_is_anchor: list[bool]
-    """Per-pair flag: True if the obstacle is a static anchor."""
+    """(P,) True if the obstacle is a static anchor."""
 
     pair_anchor_pos: list[torch.Tensor | None]
-    """Per-pair world position for anchor obstacles (None for non-anchor obstacles)."""
+    """(P,) world position for anchor obstacles (None for non-anchors)."""
 
     pair_anchor_yaw: list[float]
-    """Per-pair anchor yaw in radians (0.0 for non-anchor obstacles)."""
+    """(P,) anchor yaw in radians (0.0 for non-anchors)."""
 
     pair_subject_bbox_min: torch.Tensor
-    """(P, B, 3) subject bbox min corners for broadphase."""
+    """(P, B, 3) subject bbox min corners for overlap filtering."""
 
     pair_subject_bbox_max: torch.Tensor
-    """(P, B, 3) subject bbox max corners for broadphase."""
+    """(P, B, 3) subject bbox max corners for overlap filtering."""
 
     pair_obstacle_bbox_min: torch.Tensor
-    """(P, B, 3) obstacle bbox min corners for broadphase."""
+    """(P, B, 3) obstacle bbox min corners for overlap filtering."""
 
     pair_obstacle_bbox_max: torch.Tensor
-    """(P, B, 3) obstacle bbox max corners for broadphase."""
+    """(P, B, 3) obstacle bbox max corners for overlap filtering."""
 
     pair_max_radius: torch.Tensor
-    """(P,) max sphere radius per pair (broadphase margin)."""
+    """(P,) max sphere radius per pair (overlap filter margin)."""
 
     sphere_pair_id: torch.Tensor
     """(S,) maps each sphere to its pair index for segment reduction."""
@@ -67,7 +70,7 @@ class MeshPairCache:
     """(P,) number of spheres per pair (for mean reduction)."""
 
     mesh_id_array: wp.array
-    """Warp uint64 array of mesh IDs for the multi-mesh kernel."""
+    """(num_unique_meshes,) Warp uint64 array of mesh IDs for the multi-mesh kernel."""
 
     num_pairs: int
     """Total number of active object pairs."""

isaaclab_arena/relations/object_placer.py

@@ -37,7 +37,7 @@
 
 @dataclass
 class PlacementCandidate:
-    """A scored solver result used for ranking inside ObjectPlacer."""
+    """A candidate object layout with its solver loss and validation outcome."""
 
     loss: float
     """Loss value returned by the solver."""
@@ -226,7 +226,7 @@ def _place_ranked(
                 self._generate_initial_orientations(objects, anchor_objects_set, generator)
             )
 
-        # Bake each candidate's total yaw into a conservative enclosing bbox (AABB broadphase).
+        # Bake each candidate's total yaw into a conservative enclosing bbox for overlap checks.
         candidate_bboxes = self._rotate_candidate_bboxes(objects, candidate_bboxes, orientations_per_candidate)
 
         all_positions = self._solver.solve(

isaaclab_arena/relations/relation_solver.py

@@ -47,7 +47,7 @@ class NoOverlapPair:
 
 
 class MeshPairEntry(NamedTuple):
-    """One directed sphere-to-mesh pair collected during cache construction."""
+    """One directed sphere-to-mesh collision pair (subject spheres vs obstacle mesh)."""
 
     subject: ObjectBase
     obstacle: ObjectBase

isaaclab_arena/relations/warp_mesh_manager.py

@@ -110,7 +110,7 @@ def greedy_sphere_decomposition(
 
 
 class WarpMeshAndSphereCache:
-    """Cache for Warp BVH meshes and sphere decompositions used in mesh-based collision queries."""
+    """Cache for Warp BVH meshes and sphere decompositions."""
 
     def __init__(
         self,