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>
This commit is contained in:
dasha_f
@@ -0,0 +1,144 @@
|
||||
"""Vision stack on top of the plow cell: infeed belt, item feeder, laser gate and the
|
||||
CRE-ROI v2b decision that tells the pusher what to divert.
|
||||
|
||||
Purely additive. `sim/plow_cell.py` still owns the belts and the plow, and nothing here
|
||||
edits the authored kinematics — the DiverterAnimGraph, the plow hinge and the pusher's own
|
||||
drive are left exactly as `plow_cell.prepare()` leaves them.
|
||||
|
||||
The layout the scene augmentation produced:
|
||||
|
||||
ConveyorTrack_05 x 0.00 .. +2.00 infeed, items are released at x=+1.70
|
||||
ConveyorTrack_02 x -2.00 .. 0.00 camera portal straddles x=-0.75
|
||||
ConveyorTrack_03 x -6.00 .. -2.00 laser gate at x=-3.74, pusher at x=-3.90
|
||||
Belt_01 branch to the bin
|
||||
|
||||
Goods run -X at the configured belt speed, so an item is released, measured under the
|
||||
portal, and reaches the gate about 3.4 s later at 1 m/s.
|
||||
"""
|
||||
from __future__ import annotations
|
||||
|
||||
import json
|
||||
from pathlib import Path
|
||||
|
||||
from pxr import Gf, PhysxSchema, UsdGeom, UsdPhysics, UsdShade
|
||||
|
||||
from .. import config as C
|
||||
from . import plow_cell as _cell
|
||||
from . import scene as _scene
|
||||
|
||||
# the conveyor added by scripts/add_vision_to_plow_cell.py
|
||||
INFEED = "/World/ConveyorTrack_05/Belt"
|
||||
INFEED_TRACK = "/World/ConveyorTrack_05"
|
||||
INFEED_X0, INFEED_X1 = 0.0, 2.0
|
||||
|
||||
# release point: on the infeed belt, clear of its upstream edge so the item settles before
|
||||
# it reaches the transfer to ConveyorTrack_02
|
||||
SPAWN_X = 1.70
|
||||
|
||||
ITEMS_ROOT = _scene.ITEMS_ROOT
|
||||
LASER_GATE = "/World/SortingRig/LaserGate"
|
||||
|
||||
|
||||
def configure_infeed(stage, speed=None):
|
||||
"""drive the added conveyor the same way as the rest of the line.
|
||||
|
||||
Its local X is +X in world (unlike the branch, which is rotated), so the surface
|
||||
velocity is simply -speed on X.
|
||||
"""
|
||||
speed = speed if speed is not None else C.BELT_SPEED
|
||||
prim = stage.GetPrimAtPath(INFEED)
|
||||
if not prim.IsValid():
|
||||
raise RuntimeError(
|
||||
f"{INFEED} missing - run scripts/add_vision_to_plow_cell.py first")
|
||||
|
||||
if not prim.HasAPI(UsdPhysics.RigidBodyAPI):
|
||||
UsdPhysics.RigidBodyAPI.Apply(prim)
|
||||
UsdPhysics.RigidBodyAPI(prim).CreateKinematicEnabledAttr().Set(True)
|
||||
PhysxSchema.PhysxSurfaceVelocityAPI.Apply(prim)
|
||||
PhysxSchema.PhysxSurfaceVelocityAPI(prim).CreateSurfaceVelocityAttr().Set(
|
||||
Gf.Vec3f(-speed, 0.0, 0.0))
|
||||
|
||||
grip = stage.GetPrimAtPath(_cell.GRIP_MATERIAL)
|
||||
if grip.IsValid():
|
||||
api = UsdShade.MaterialBindingAPI.Apply(prim)
|
||||
api.Bind(UsdShade.Material(grip),
|
||||
bindingStrength=UsdShade.Tokens.strongerThanDescendants,
|
||||
materialPurpose="physics")
|
||||
|
||||
# the added track brings its own conveyor graph; it carries no speed and would only
|
||||
# fight the explicit surface velocity
|
||||
for suffix in ("", "_01"):
|
||||
g = stage.GetPrimAtPath(f"{INFEED_TRACK}/ConveyorBeltGraph{suffix}")
|
||||
if g.IsValid():
|
||||
g.SetActive(False)
|
||||
return prim
|
||||
|
||||
|
||||
def load_items(stage, meshes_dir=None):
|
||||
"""the bundled per-class test meshes, as dynamic rigid bodies parked off the line"""
|
||||
meshes_dir = Path(meshes_dir or C.MESHES)
|
||||
manifest = json.loads((meshes_dir / "manifest.json").read_text())
|
||||
UsdGeom.Xform.Define(stage, ITEMS_ROOT)
|
||||
items = {}
|
||||
for i, (name, meta) in enumerate(sorted(manifest.items())):
|
||||
usd = meshes_dir / f"{name}.usd"
|
||||
if not usd.exists():
|
||||
continue
|
||||
prim = UsdGeom.Xform.Define(stage, f"{ITEMS_ROOT}/{name}").GetPrim()
|
||||
refs = prim.GetReferences()
|
||||
refs.ClearReferences()
|
||||
refs.AddReference(str(usd))
|
||||
# Meshes flattened out of the working scene bring their own xformOp:translate at
|
||||
# float precision. ClearXformOpOrder() drops the *order*, not the attribute, so
|
||||
# adding a fresh double-precision op collides with what is already there and USD
|
||||
# raises. Match whatever precision the prim already carries.
|
||||
xf = UsdGeom.Xformable(prim)
|
||||
xf.ClearXformOpOrder()
|
||||
park = (9.0 + 1.2 * i, 5.0, 0.4)
|
||||
# Items exported from the working scene carry translate as float3, and
|
||||
# ClearXformOpOrder() drops the ORDER but keeps the attribute. AddTranslateOp() then
|
||||
# warns-as-raises about the precision mismatch (it still succeeds), and a retry hits
|
||||
# "already exists". Reuse the attribute that is there instead of adding anything.
|
||||
attr = prim.GetAttribute("xformOp:translate")
|
||||
if attr:
|
||||
op = UsdGeom.XformOp(attr)
|
||||
op.Set(Gf.Vec3f(*park) if str(attr.GetTypeName()) == "float3" else Gf.Vec3d(*park))
|
||||
xf.SetXformOpOrder([op])
|
||||
else:
|
||||
xf.AddTranslateOp().Set(Gf.Vec3d(*park))
|
||||
UsdPhysics.RigidBodyAPI.Apply(prim)
|
||||
# exported meshes arrive kinematic and hidden; both make them inert
|
||||
UsdPhysics.RigidBodyAPI(prim).CreateKinematicEnabledAttr().Set(False)
|
||||
UsdPhysics.MassAPI.Apply(prim).CreateMassAttr().Set(0.6)
|
||||
px = PhysxSchema.PhysxRigidBodyAPI.Apply(prim)
|
||||
px.CreateEnableCCDAttr().Set(True)
|
||||
px.CreateSolverPositionIterationCountAttr().Set(24)
|
||||
px.CreateSleepThresholdAttr().Set(0.0) # a settled item must stay draggable
|
||||
# without this a blade sweeping into the item separates them at whatever speed
|
||||
# PhysX picks, which fires the item off the line instead of deflecting it
|
||||
px.CreateMaxDepenetrationVelocityAttr().Set(C.MAX_DEPENETRATION)
|
||||
UsdGeom.Imageable(prim).MakeVisible()
|
||||
items[name] = meta
|
||||
return items
|
||||
|
||||
|
||||
def prepare(stage, belt_speed=None, script_control=True, meshes_dir=None):
|
||||
"""plow_cell.prepare() plus the infeed belt, the items and the camera housekeeping"""
|
||||
info = _cell.prepare(stage, belt_speed=belt_speed, script_control=script_control)
|
||||
configure_infeed(stage, belt_speed)
|
||||
hidden = _scene.hide_aim_markers(stage)
|
||||
items = load_items(stage, meshes_dir)
|
||||
|
||||
# mechanics.Cell releases at C.SPAWN_X; the plow cell's infeed is shorter than the
|
||||
# sorter's, so point it at this belt. run.py already sets C.BELT_SPEED the same way.
|
||||
C.SPAWN_X = SPAWN_X
|
||||
|
||||
calib_path = C.CONFIG / "calib.json"
|
||||
info.update(items=items, aim_markers_hidden=hidden, spawn_x=SPAWN_X,
|
||||
calib=json.loads(calib_path.read_text()) if calib_path.exists() else None)
|
||||
return info
|
||||
|
||||
|
||||
def load(usd_path=None, belt_speed=None, script_control=True, meshes_dir=None):
|
||||
stage = _cell.open_scene(usd_path)
|
||||
return stage, prepare(stage, belt_speed, script_control, meshes_dir)
|
||||
Reference in New Issue
Block a user