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>
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dasha_f
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"""Loads the real sorting cell (scene/sorter.usd) and applies the runtime configuration
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it needs to actually run.
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The scene file is the original build - conveyor art, diverters, camera portal, camera
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bodies, laser gate and collection bin exactly as authored. Nothing here rebuilds geometry.
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What this module does is re-apply the handful of runtime settings that USD does not carry
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and that the cell does not work without; each one is documented where it is applied,
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because every one of them was a silent failure at some point.
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"""
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from __future__ import annotations
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import json
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from pathlib import Path
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from pxr import Gf, PhysxSchema, UsdGeom, UsdPhysics, UsdShade
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from .. import config as C
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SCENE = C.ROOT / "scene" / "sorter.usd"
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# --- prim paths in the authored scene -------------------------------------------------
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BELTS = ["/World/ConveyorTrack/Belt", "/World/ConveyorTrack_02/Belt",
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"/World/ConveyorTrack_03/Belt", "/World/ConveyorTrack_04/Belt",
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"/World/ConveyorTrack_01/Belt"]
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SPAWN_BELT = "/World/SortingRig/SpawnBelt"
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BRANCH = "/World/ConveyorTrack_03/Belt_01" # the branch the pusher feeds
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BLADE = "/World/Diverters/DiverterY_Split/Pusher"
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PUSHER_JOINT = "/World/Diverters/DiverterY_Split/PusherSlide"
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ANIM_GRAPH = "/World/Diverters/DiverterAnimGraph"
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CAMERA_BODIES = "/World/CameraBodies"
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ITEMS_ROOT = "/World/Items"
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RIG = "/RigRS"
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# The blade's parent carries this offset; world_y = PARENT_Y + local_y.
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BLADE_PARENT_Y = -0.35
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def open_scene(usd_path: str | Path | None = None):
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"""open sorter.usd into the current context"""
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import omni.usd
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path = str(usd_path or SCENE)
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if not Path(path).exists():
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raise FileNotFoundError(
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f"{path} not found. The conveyor art it references lives in assets/conveyors/ - "
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"run scripts/fetch_assets.py if that folder is empty."
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)
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omni.usd.get_context().open_stage(path)
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return omni.usd.get_context().get_stage()
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# --------------------------------------------------------------------- runtime config
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def configure_physics(stage):
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scene = stage.GetPrimAtPath("/World/PhysicsScene")
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if not scene.IsValid():
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scene = UsdPhysics.Scene.Define(stage, "/World/PhysicsScene").GetPrim()
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UsdPhysics.Scene(scene).CreateGravityMagnitudeAttr().Set(9.81)
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px = PhysxSchema.PhysxSceneAPI.Apply(scene)
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# 120 Hz is what the cell was tuned and validated at, together with the 2.5 m/s blade.
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# Raising it changes the contact response and the pushed item stops landing in the bin,
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# so treat this number and PUSHER_SPEED as a matched pair.
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px.CreateTimeStepsPerSecondAttr().Set(120)
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px.CreateEnableCCDAttr().Set(True)
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px.CreateSolverTypeAttr().Set("TGS")
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def configure_belts(stage, speed=None, grip_path="/World/SortingRig/M_beltPhysics"):
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"""explicit surface velocities; the authored ConveyorBeltGraphs carry no speed and
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would only fight these, so they are switched off.
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`grip_path` is where the belt friction material is authored. It defaults to a prim
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under the sorter's rig; plow_cell.usd has no SortingRig and passes its own path so the
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scene does not grow an empty one.
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"""
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speed = speed if speed is not None else C.BELT_SPEED
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grip = stage.GetPrimAtPath(grip_path)
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if not grip.IsValid():
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grip = stage.DefinePrim(grip_path, "Material")
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pm = UsdPhysics.MaterialAPI.Apply(grip)
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pm.CreateStaticFrictionAttr().Set(1.1)
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pm.CreateDynamicFrictionAttr().Set(0.95)
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pm.CreateRestitutionAttr().Set(0.02)
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grip_mat = UsdShade.Material(grip)
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def drive(path, vel):
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prim = stage.GetPrimAtPath(path)
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if not prim.IsValid():
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return False
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if not prim.HasAPI(UsdPhysics.RigidBodyAPI):
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UsdPhysics.RigidBodyAPI.Apply(prim)
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UsdPhysics.RigidBodyAPI(prim).CreateKinematicEnabledAttr().Set(True)
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PhysxSchema.PhysxSurfaceVelocityAPI.Apply(prim)
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PhysxSchema.PhysxSurfaceVelocityAPI(prim).CreateSurfaceVelocityAttr().Set(Gf.Vec3f(*vel))
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api = UsdShade.MaterialBindingAPI.Apply(prim)
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api.Bind(grip_mat, bindingStrength=UsdShade.Tokens.strongerThanDescendants,
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materialPurpose="physics")
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return True
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for path in BELTS + [SPAWN_BELT]:
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drive(path, (-speed, 0, 0))
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# The branch is rotated: its LOCAL X points along world -Y. surfaceVelocity is given
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# in the body's local frame, so carrying goods toward the bin (+Y) needs (-speed,0,0).
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# Setting the "obvious" (0,+speed,0) drags them sideways and they sit there.
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drive(BRANCH, (-speed, 0, 0))
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for track in ["ConveyorTrack", "ConveyorTrack_02", "ConveyorTrack_03",
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"ConveyorTrack_04", "ConveyorTrack_01"]:
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for graph in (f"/World/{track}/ConveyorBeltGraph", f"/World/{track}/ConveyorBeltGraph_01"):
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g = stage.GetPrimAtPath(graph)
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if g.IsValid():
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g.SetActive(False)
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def configure_pusher(stage):
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"""the blade is driven kinematically from script.
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Its authored PhysicsPrismaticJoint is unusable at runtime: USD drive-target writes
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reach PhysX about a second late, so the blade never completes its stroke while the
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item is still in reach. The joint is disabled and the blade is moved directly.
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"""
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blade = stage.GetPrimAtPath(BLADE)
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if not blade.IsValid():
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raise RuntimeError(f"{BLADE} missing - is this the right scene?")
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UsdPhysics.RigidBodyAPI(blade).CreateKinematicEnabledAttr().Set(True)
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joint = stage.GetPrimAtPath(PUSHER_JOINT)
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if joint.IsValid():
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joint.GetAttribute("physics:jointEnabled").Set(False)
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graph = stage.GetPrimAtPath(ANIM_GRAPH)
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if graph.IsValid():
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graph.SetActive(False) # otherwise it rewrites the diverter targets every tick
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# the blade must sweep through the conveyor rails rather than grind on them
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filt = UsdPhysics.FilteredPairsAPI.Apply(blade)
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rel = filt.CreateFilteredPairsRel()
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have = {str(t) for t in rel.GetTargets()}
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for path in BELTS + [SPAWN_BELT, BRANCH, "/World/Diverters/DiverterY_Split/Base"]:
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if stage.GetPrimAtPath(path).IsValid() and path not in have:
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rel.AddTarget(path)
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# seat the blade just over the belt so flat items cannot slip underneath
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for op in UsdGeom.Xformable(blade).GetOrderedXformOps():
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if op.GetOpType() == UsdGeom.XformOp.TypeTranslate:
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v = op.Get()
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op.Set(Gf.Vec3d(v[0], C.BLADE_HOME_Y - BLADE_PARENT_Y, -0.135))
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break
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def hide_aim_markers(stage):
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"""the camera bodies carry cosmetic aim-ray cones that sit right over the inspection
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point; left visible they dominate the frame and segmentation locks onto them."""
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n = 0
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for rig in ["RealSense_D435", "Orbbec_Gemini305", "Orbbec_Gemini345"]:
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p = stage.GetPrimAtPath(f"{CAMERA_BODIES}/{rig}/AimRay")
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if p.IsValid():
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UsdGeom.Imageable(p).MakeInvisible()
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n += 1
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return n
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def load_test_items(stage, meshes_dir=None):
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"""add the bundled per-class test meshes as dynamic rigid bodies"""
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meshes_dir = Path(meshes_dir or C.MESHES)
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manifest = json.loads((meshes_dir / "manifest.json").read_text())
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UsdGeom.Xform.Define(stage, ITEMS_ROOT)
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items = {}
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for i, (name, meta) in enumerate(sorted(manifest.items())):
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usd = meshes_dir / f"{name}.usd"
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if not usd.exists():
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continue
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prim = UsdGeom.Xform.Define(stage, f"{ITEMS_ROOT}/{name}").GetPrim()
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refs = prim.GetReferences()
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refs.ClearReferences() # idempotent: prepare() may run more than once
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refs.AddReference(str(usd))
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xf = UsdGeom.Xformable(prim)
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xf.ClearXformOpOrder()
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xf.AddTranslateOp().Set(Gf.Vec3d(9.0 + 1.2 * i, 5.0, 0.4))
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UsdPhysics.RigidBodyAPI.Apply(prim)
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# meshes exported from a streaming scene arrive kinematic and hidden - both make
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# them inert: kinematic ignores gravity and belt friction, hidden shows nothing
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UsdPhysics.RigidBodyAPI(prim).CreateKinematicEnabledAttr().Set(False)
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UsdPhysics.MassAPI.Apply(prim).CreateMassAttr().Set(0.6)
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px = PhysxSchema.PhysxRigidBodyAPI.Apply(prim)
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px.CreateEnableCCDAttr().Set(True)
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px.CreateSolverPositionIterationCountAttr().Set(24)
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px.CreateSleepThresholdAttr().Set(0.0) # a settled item must still be draggable
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UsdGeom.Imageable(prim).MakeVisible()
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items[name] = meta
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return items
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def prepare(stage, belt_speed=None, meshes_dir=None):
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"""everything the authored scene needs before it will run"""
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configure_physics(stage)
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configure_belts(stage, belt_speed)
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configure_pusher(stage)
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hidden = hide_aim_markers(stage)
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items = load_test_items(stage, meshes_dir)
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calib = json.loads((C.CONFIG / "calib.json").read_text())
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return dict(items=items, calib=calib, aim_markers_hidden=hidden)
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def load(usd_path=None, belt_speed=None, meshes_dir=None):
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stage = open_scene(usd_path)
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return stage, prepare(stage, belt_speed, meshes_dir)
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