Auto-fixes for pim/feat/scene-cooking

dimos/constants.py

@@ -21,9 +21,11 @@
 except ImportError:
     CONFIG_DIR = Path(os.environ.get("XDG_CONFIG_HOME", Path.home() / ".config"))
     STATE_DIR = Path(os.environ.get("XDG_STATE_HOME", Path.home() / ".local" / "state")) / "dimos"
+    CACHE_DIR = Path(os.environ.get("XDG_CACHE_HOME", Path.home() / ".cache")) / "dimos"
 else:
     CONFIG_DIR = Path(GLib.get_user_config_dir())
     STATE_DIR = Path(GLib.get_user_state_dir()) / "dimos"
+    CACHE_DIR = Path(GLib.get_user_cache_dir()) / "dimos"
 
 DIMOS_PROJECT_ROOT = Path(__file__).parent.parent
 

dimos/experimental/scene_cooking/browser/collision.py

@@ -22,7 +22,9 @@
 from typing import Any
 
 import numpy as np
+from numpy.typing import NDArray
 import open3d as o3d  # type: ignore[import-untyped]
+import trimesh  # type: ignore[import-untyped]
 
 from dimos.experimental.scene_cooking.mujoco.collision_policy import CollisionSpec
 from dimos.experimental.scene_cooking.package_config import BrowserCollisionSpec
@@ -115,8 +117,6 @@ def cook_browser_collision(
 
 
 def _write_glb(mesh: o3d.geometry.TriangleMesh, path: Path) -> None:
-    import trimesh
-
     # Quadric decimation collapses triangles but leaves the original input
     # vertices in the buffer (referenced by nothing). Drop them before export,
     # else the GLB carries millions of orphan vertices (~25x larger on a 100k
@@ -184,8 +184,8 @@ def _build_fused_collision_mesh(
     prims: list[ScenePrimMesh],
     spec: CollisionSpec,
 ) -> o3d.geometry.TriangleMesh:
-    vertices: list[np.ndarray] = []
-    faces: list[np.ndarray] = []
+    vertices: list[NDArray[np.float64]] = []
+    faces: list[NDArray[np.int64]] = []
     vertex_offset = 0
     for prim in prims:
         mesh = _mesh_for_prim(prim, spec)
@@ -257,7 +257,9 @@ def _mesh_for_prim(
     return mesh
 
 
-def _mesh_from_arrays(vertices: np.ndarray, faces: np.ndarray) -> o3d.geometry.TriangleMesh:
+def _mesh_from_arrays(
+    vertices: NDArray[np.float64], faces: NDArray[np.int64]
+) -> o3d.geometry.TriangleMesh:
     mesh = o3d.geometry.TriangleMesh()
     mesh.vertices = o3d.utility.Vector3dVector(vertices)
     mesh.triangles = o3d.utility.Vector3iVector(faces.astype(np.int32))

dimos/experimental/scene_cooking/browser/visuals.py

@@ -49,6 +49,7 @@
     ".ply",
 }
 _GLTFPACK_INPUT_SUFFIXES = {".gltf", ".glb", ".obj"}
+_GLTFPACK_WARNING_TAIL_LINES = 30
 
 _BLENDER_SCRIPT = r"""
 import pathlib
@@ -340,7 +341,7 @@ def _export_with_gltfpack(
                 ) from exc
             raise
         if output and "Warning:" in output:
-            logger.warning("gltfpack output:\n%s", _tail(output, 30))
+            logger.warning("gltfpack output:\n%s", _tail(output, _GLTFPACK_WARNING_TAIL_LINES))
         report = _read_json(report_path)
     return ("gltfpack", report)
 

dimos/experimental/scene_cooking/coacd_util.py

@@ -0,0 +1,29 @@
+# Copyright 2025-2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Shared CoACD setup for scene-cooking convex decomposition."""
+
+from __future__ import annotations
+
+
+def silence_coacd_logging() -> None:
+    """Quiet CoACD's per-invocation C-library log spam.
+
+    ``set_log_level`` is a cheap call, so this is safe to call before
+    every ``coacd.run_coacd`` invocation instead of caching "already
+    silenced" state on a function attribute.
+    """
+    import coacd  # type: ignore[import-not-found, import-untyped]
+
+    coacd.set_log_level("error")

dimos/experimental/scene_cooking/cook.py

@@ -61,6 +61,9 @@
 SCENE_PACKAGE_DIR = get_data_dir("scene_packages")
 _PACKAGE_KEY_LEN = 12
 _COOK_VERSION = 4
+#: Cap on entity id samples recorded in cook stats -- diagnostics only, not
+#: the full entity list (that lives in ``scene.meta.json``).
+_ENTITY_ID_SAMPLE_CAP = 100
 
 
 def cook_scene_package(
@@ -140,7 +143,7 @@ def cook_scene_package(
     if entities:
         stats["interactables"] = {
             "count": len(entities),
-            "id_samples": [entity["id"] for entity in entities[:100]],
+            "id_samples": [entity["id"] for entity in entities[:_ENTITY_ID_SAMPLE_CAP]],
             "static_visual_filter": "plan/blender",
         }
 
@@ -237,7 +240,7 @@ def cook_scene_package(
         stats=stats,
     )
     package.write_metadata()
-    logger.info("scene package cooked: %s", package.metadata_path)
+    logger.info("scene package cooked", metadata_path=package.metadata_path)
     return package
 
 
@@ -262,9 +265,9 @@ def _cook_entity_collision(
         visual_path = entity.get("visual_path")
         if not visual_path or not Path(visual_path).exists():
             logger.warning(
-                "entity %s: mesh entity has no cooked visual GLB; "
+                "mesh entity has no cooked visual GLB; "
                 "no collision hulls (runtime falls back to AABB box)",
-                entity.get("id"),
+                entity_id=entity.get("id"),
             )
             continue
         hull_paths = cook_entity_collision_hulls(
@@ -330,6 +333,8 @@ def _compile_mujoco_binary(scene_xml_path: Path, *, rebake: bool) -> tuple[Path,
     requires the XML wrapper unless a robot-specific composed binary is
     produced separately.
     """
+    # Lazy: mujoco is a `sim` extra, not a `scene` one -- browser/rerun-only
+    # cooks (mujoco.compile_binary=False) shouldn't require it installed.
     import mujoco
 
     binary_path = scene_xml_path.with_suffix(".mjb")

dimos/experimental/scene_cooking/entities/collision.py

@@ -36,7 +36,11 @@
 from __future__ import annotations
 
 from pathlib import Path
+from typing import Any
 
+import numpy as np
+
+from dimos.experimental.scene_cooking.coacd_util import silence_coacd_logging
 from dimos.utils.logging_config import setup_logger
 
 logger = setup_logger()
@@ -59,9 +63,9 @@ def cook_entity_collision_hulls(
     """Decompose one entity mesh into convex hulls under ``out_dir``.
 
     Idempotent: existing ``hull_*.obj`` files are reused unless ``rebake``.
-    Falls back to a single convex hull when CoACD is unavailable or fails
-    on the mesh. Returns ``[]`` (with a warning) when the mesh can't be
-    read at all — the runtime composer then uses an AABB box.
+    Falls back to a single convex hull when CoACD fails on the mesh.
+    Returns ``[]`` (with a warning) when the mesh can't be read at all —
+    the runtime composer then uses an AABB box.
     """
     mesh_path = Path(visual_mesh_path)
     out_dir = Path(out_dir)
@@ -88,8 +92,6 @@ def cook_entity_collision_hulls(
     for stale in out_dir.glob("hull_*.obj"):
         stale.unlink()
 
-    import numpy as np
-
     out_paths: list[Path] = []
     if parts:
         for i, (vertices, triangles) in enumerate(parts):
@@ -108,19 +110,16 @@ def cook_entity_collision_hulls(
     return out_paths
 
 
-def _run_coacd(mesh: object, mesh_path: Path) -> list[tuple[object, object]]:
+def _run_coacd(mesh: Any, mesh_path: Path) -> list[tuple[Any, Any]]:
     """CoACD parts for an open3d mesh; ``[]`` means fall back to one hull."""
-    try:
-        import coacd  # type: ignore[import-not-found, import-untyped]
-        import numpy as np
+    import coacd  # type: ignore[import-not-found, import-untyped]
 
-        if not getattr(_run_coacd, "_coacd_silenced", False):
-            coacd.set_log_level("error")
-            _run_coacd._coacd_silenced = True  # type: ignore[attr-defined]
+    silence_coacd_logging()
 
+    try:
         cm = coacd.Mesh(
-            np.asarray(mesh.vertices, dtype=np.float64),  # type: ignore[attr-defined]
-            np.asarray(mesh.triangles, dtype=np.int32),  # type: ignore[attr-defined]
+            np.asarray(mesh.vertices, dtype=np.float64),
+            np.asarray(mesh.triangles, dtype=np.int32),
         )
         parts = coacd.run_coacd(
             cm,
@@ -130,9 +129,9 @@ def _run_coacd(mesh: object, mesh_path: Path) -> list[tuple[object, object]]:
             mcts_iterations=_COACD_MCTS_ITERATIONS,
             mcts_nodes=_COACD_MCTS_NODES,
         )
-        return list(parts)
-    except Exception as exc:
+    except (AssertionError, RuntimeError, ValueError) as exc:
         logger.warning(
             "entity hulls: CoACD failed for %s (%s); using single convex hull", mesh_path, exc
         )
         return []
+    return list(parts)

dimos/experimental/scene_cooking/entities/test_collision.py

@@ -16,21 +16,20 @@
 
 from pathlib import Path
 
-import pytest
+import coacd  # noqa: F401  ensures collection fails loudly if coacd is missing
+import open3d as o3d
 
 from dimos.experimental.scene_cooking.entities.collision import cook_entity_collision_hulls
 
 
 def _write_box_mesh(path: Path) -> None:
-    o3d = pytest.importorskip("open3d")
     mesh = o3d.geometry.TriangleMesh.create_box(0.1, 0.1, 0.1)
     o3d.io.write_triangle_mesh(str(path), mesh)
 
 
 def test_cook_entity_collision_hulls(tmp_path: Path) -> None:
     source = tmp_path / "visual.obj"
     _write_box_mesh(source)
-    pytest.importorskip("coacd")
     out_dir = tmp_path / "mujoco_collision"
 
     hulls = cook_entity_collision_hulls(source, out_dir)
@@ -44,7 +43,6 @@ def test_cook_entity_collision_hulls(tmp_path: Path) -> None:
 def test_cook_entity_collision_hulls_is_idempotent(tmp_path: Path) -> None:
     source = tmp_path / "visual.obj"
     _write_box_mesh(source)
-    pytest.importorskip("coacd")
     out_dir = tmp_path / "mujoco_collision"
 
     first = cook_entity_collision_hulls(source, out_dir)
@@ -60,7 +58,6 @@ def test_cook_entity_collision_hulls_is_idempotent(tmp_path: Path) -> None:
 
 
 def test_cook_entity_collision_hulls_unreadable_mesh(tmp_path: Path) -> None:
-    pytest.importorskip("open3d")
     source = tmp_path / "visual.obj"
     source.write_text("not a mesh\n")
 

dimos/experimental/scene_cooking/entities/visuals.py

@@ -20,6 +20,7 @@
 from pathlib import Path
 import shutil
 import tempfile
+from typing import Any
 
 from dimos.experimental.scene_cooking.command import (
     blender_output_line_is_interesting,
@@ -280,7 +281,7 @@ def cook_plan_visual_assets(
     return static_visual_source
 
 
-def _blender_plan_json(plan: SceneCookPlan, static_visual_source: Path) -> dict[str, object]:
+def _blender_plan_json(plan: SceneCookPlan, static_visual_source: Path) -> dict[str, Any]:
     return {
         "visual_plan_version": _VISUAL_PLAN_VERSION,
         "alignment": {
@@ -307,7 +308,7 @@ def _blender_plan_json(plan: SceneCookPlan, static_visual_source: Path) -> dict[
     }
 
 
-def _manifest_matches(path: Path, expected: dict[str, object]) -> bool:
+def _manifest_matches(path: Path, expected: dict[str, Any]) -> bool:
     if not path.exists():
         return False
     try: