Сортировочная ячейка Isaac Sim: CV-пайплайн и меши товаров

Замкнутый контур "поток -> CV -> механика": товары идут по конвейеру с шагом 700 мм,
класс определяется стереопайплайном во время движения, пушер и плуг реагируют физически.

Состав:
* control_test/ - ячейка и CV. run_sorting_cv.py + cv_worker.py (два процесса, потому что
  torch внутри Isaac роняет сцену), cell.py (физика лент, плуга, пушера), measure_plane.py
  (замер габаритов), README.md и .memory.md с замерами, проблемами и ловушками
* robozon_sorter/ - модули симуляции, scripts/ - утилиты, scene/ - сцены
* assets/ - меши товаров, плуг, объекты Objaverse

Бейзлайн CV: DEFOM-Stereo vitl, вход 480, iters 24, кроп зоны осмотра, без сегментации.
На потоке 700 мм - классы 8/9, габариты MAE 32.8 мм, 469 мс на товар при такте 700 мс.

Веса моделей (4.5 ГБ) и пропсы конвейера NVIDIA (274 МБ) не включены - источники и
команды скачивания в MODELS.md. Выход прогонов (captures/, runtime/) не включён:
воспроизводится.

Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>

robozon_sorter/sim/lane_beams.py

@@ -0,0 +1,91 @@
+"""Through-beams across each lane entry: did the item actually get onto its lane, and at
+what blade angle and sweep rate.
+
+The delivery number alone cannot tune the plow. An item that ends on the floor and one that
+never left the belt both score zero, but they need opposite corrections - the first was
+pushed too hard, the second not hard enough. A beam at the lane entry separates them: it
+fires the moment the item crosses onto the lane, so a run yields, per item,
+
+    crossed  yes/no          - did the push reach the lane at all
+    angle    deg             - where the blade was at the crossing
+    rate     deg/s           - how fast it was sweeping at that instant
+    speed    m/s             - how fast the item was going as it crossed
+
+which is what the sweep rate is tuned against. A rate that crosses every item but at high
+speed is throwing them; one that crosses none is too slow.
+
+The beams are real `raycast_closest` queries, like the gate before the pusher, placed
+**along the lane entry line** rather than across the belt - the item is travelling sideways
+here, so the beam has to lie along the direction it is leaving.
+"""
+from __future__ import annotations
+
+from .. import config as C
+
+# Beams sit just inside each lane entry, spanning the lane's width in X, so anything pushed
+# across breaks one. Y is the entry edge after scripts/move_lanes_inboard.py.
+# Beams sit ON each lane, not at its entry line, so a break means "this item is riding the
+# lane" rather than "this item touched the boundary". Each is an origin + direction + length,
+# because lane C is laid at 45 deg and cannot be described by a y value the way B can.
+#
+#   lane B  perpendicular, x -7.03..-6.57, y -2.38..-0.38  -> beam across it at y = -0.80
+#   lane C  45 deg, near edge y = x + 7.637                -> beam across it at y = +0.90,
+#           where the lane occupies roughly x -7.6..-6.7
+BEAMS = {
+    # lane C: straight run, belt x[-10.00,-8.00] y[-0.45,0.00]; beam across it at x = -8.60
+    "lane_C": dict(o=(-8.60, -0.50, C.BELT_Z + 0.03), d=(0.0, 1.0, 0.0), L=0.55),
+    # lane B: 45 deg band from (-7.84,0.16) to (-9.25,1.57); beam across it 0.7 m in,
+    # so its direction is the lane's perpendicular (0.707, 0.707), not a world axis.
+    "lane_B": dict(o=(-8.53, 0.46, C.BELT_Z + 0.03), d=(0.7071, 0.7071, 0.0), L=0.55),
+}
+ITEMS_PREFIX = "/World/Items/"
+
+
+class LaneBeams:
+    """crossing detector at each lane entry"""
+
+    def __init__(self, stage, cell, plow=None):
+        self.stage = stage
+        self.cell = cell
+        self.plow = plow
+        self.crossings: dict[str, dict] = {}     # item -> first crossing record
+        self._t = 0.0
+        from omni.physx import get_physx_scene_query_interface
+        self._q = get_physx_scene_query_interface()
+
+    def tick(self, dt):
+        self._t += dt
+
+    def _hit(self, b):
+        """name of whatever breaks this beam, else None"""
+        h = self._q.raycast_closest(list(b["o"]), list(b["d"]), b["L"])
+        if not h or not h.get("hit"):
+            return None
+        path = str(h.get("rigidBody") or h.get("collision") or "")
+        if not path.startswith(ITEMS_PREFIX):
+            return None
+        return path[len(ITEMS_PREFIX):].split("/")[0] or None
+
+    def poll(self, rate=None):
+        """call each physics step; records the first crossing of each item"""
+        for lane, b in BEAMS.items():
+            name = self._hit(b)
+            if name is None or name in self.crossings:
+                continue
+            try:
+                v = self.cell._rp[name].get_velocities()[0].numpy()[0]
+                speed = float((v[0] ** 2 + v[1] ** 2 + v[2] ** 2) ** 0.5)
+            except Exception:
+                speed = 0.0
+            self.crossings[name] = dict(
+                item=name, lane=lane, t=round(self._t, 3),
+                angle=round(self.plow.angle, 1) if self.plow else None,
+                commanded=round(self.plow.commanded, 1) if self.plow else None,
+                rate=None if rate is None else round(rate, 1),
+                speed=round(speed, 2))
+
+    def crossed(self, name):
+        return name in self.crossings
+
+    def report(self):
+        return list(self.crossings.values())