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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#!/usr/bin/env python3
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"""Carry the driven surface inboard, to where the plow can actually deliver.
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/home/whatevenif/isaacsim/python.sh scripts/extend_transition_decks.py
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Measured with one item and a full 42 deg sweep: the blade imparts a real push (item picks up
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0.59 m/s and travels 139 mm sideways) but leaves it at **y = 0.261**, and every driven
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surface past the plow starts at **|y| = 0.380**:
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belt ConveyorTrack_04 x -7.00..-6.00 y -0.450..+0.450
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deck PlowTransition_C x -7.00..-6.00 y +0.380..+0.698
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lane C x -8.12..-6.39 y +0.380..+2.112
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lane B x -7.03..-6.58 y -2.379..-0.380 (no transition deck at all)
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So there is a 119 mm band where a swept item sits on the very lip of the main belt with
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nothing driving it toward its lane. That is the gap the goods die in - not a hole they fall
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through, a strip with no traction, right where the blade lets go of them.
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This closes it from the inside: each transition plate is brought in to |y| = 0.20, well
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short of where the blade releases, and B gets the plate it never had. `plow_sort.DECK_DIR`
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already drives both toward their lanes, so an item landing here is carried on instead of
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stopping.
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Plates are static Cubes with collision, coplanar with the belt at z 1.7805, and are made
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kinematic + surface-driven at load time like every other deck.
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"""
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from __future__ import annotations
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import sys
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from pathlib import Path
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from pxr import Gf, Sdf, Usd, UsdGeom, UsdPhysics
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SCENE = Path(__file__).resolve().parent.parent / "scene" / "plow_cell.usd"
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TOP_Z = 1.7805
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THICK = 0.01
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INBOARD = 0.20 # how far in the driven surface now reaches
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# Lane B is perpendicular, so a straight strip meets it flush.
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PLATES_STRAIGHT = {"PlowTransition_B": (-7.03, -6.45, -0.380)}
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# Lane C is laid at 45 deg. Its bounding box, x -8.123..-6.391 by y 0.380..2.112, is the
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# AABB of a rotated rectangle and describes a footprint the belt does not have: the near
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# side is a single CORNER at (-7.257, 0.380), and the edge runs away from it at 45 deg,
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#
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# y = x + 7.637
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#
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# so at x -7.03 the lane really starts at y 0.607, and at x -6.39 at y 1.247 - not at 0.380
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# anywhere except that one corner. A straight plate ending at y 0.380 therefore leaves a
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# widening wedge of open air, which is the dark triangle in the viewport and where
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# `bolts_cluster` fell through after the blade had successfully pushed it to y +0.425.
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#
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# The C plate is a trapezoid instead: inboard edge at |y| = INBOARD, outer edge ON the
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# lane's diagonal.
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LANE_C_EDGE = lambda x: x + 7.637
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def _plate(stage, name, x0, x1, y_in, y_out):
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path = f"/World/{name}"
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prim = stage.GetPrimAtPath(path)
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if prim.IsValid():
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stage.RemovePrim(path)
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cube = UsdGeom.Cube.Define(stage, path)
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cube.CreateSizeAttr().Set(2.0) # size 2 so the scale op IS the half-extent
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cx, cy = (x0 + x1) / 2.0, (y_in + y_out) / 2.0
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hx, hy = abs(x1 - x0) / 2.0, abs(y_out - y_in) / 2.0
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xf = UsdGeom.Xformable(cube.GetPrim())
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xf.ClearXformOpOrder()
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xf.AddTranslateOp().Set(Gf.Vec3d(cx, cy, TOP_Z - THICK))
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xf.AddScaleOp().Set(Gf.Vec3f(hx, hy, THICK))
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cube.CreateDisplayColorAttr().Set([Gf.Vec3f(0.30, 0.31, 0.33)])
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UsdPhysics.CollisionAPI.Apply(cube.GetPrim())
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return path, (round(cx - hx, 3), round(cx + hx, 3), round(cy - hy, 3), round(cy + hy, 3))
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def _trapezoid(stage, name, quad):
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"""a thin prism whose top face is the given 4 corners, coplanar with the belt.
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A Cube cannot do this - the plate has to follow a 45 deg edge, so it is authored as an
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explicit mesh. Given thickness rather than left as a zero-height quad: a flat sheet is a
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poor collider and goods catch on its rim.
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"""
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path = f"/World/{name}"
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if stage.GetPrimAtPath(path).IsValid():
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stage.RemovePrim(path)
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mesh = UsdGeom.Mesh.Define(stage, path)
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top = [Gf.Vec3f(x, y, TOP_Z) for x, y in quad]
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bot = [Gf.Vec3f(x, y, TOP_Z - THICK) for x, y in quad]
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pts = top + bot
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mesh.CreatePointsAttr().Set(pts)
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faces, counts = [], []
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faces += [0, 1, 2, 3]; counts.append(4) # top
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faces += [7, 6, 5, 4]; counts.append(4) # bottom
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for i in range(4): # sides
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j = (i + 1) % 4
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faces += [i, 4 + i, 4 + j, j]; counts.append(4)
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mesh.CreateFaceVertexIndicesAttr().Set(faces)
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mesh.CreateFaceVertexCountsAttr().Set(counts)
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xs = [p[0] for p in pts]; ys = [p[1] for p in pts]; zs = [p[2] for p in pts]
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mesh.CreateExtentAttr().Set([Gf.Vec3f(min(xs), min(ys), min(zs)),
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Gf.Vec3f(max(xs), max(ys), max(zs))])
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mesh.CreateDisplayColorAttr().Set([Gf.Vec3f(0.30, 0.31, 0.33)])
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mesh.CreateSubdivisionSchemeAttr().Set("none")
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UsdPhysics.CollisionAPI.Apply(mesh.GetPrim())
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UsdPhysics.MeshCollisionAPI.Apply(mesh.GetPrim()).CreateApproximationAttr().Set("convexHull")
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return path
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def main():
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if not SCENE.exists():
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sys.exit(f"{SCENE} not found")
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stage = Usd.Stage.Open(str(SCENE))
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for name, (x0, x1, y_out) in PLATES_STRAIGHT.items():
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y_in = INBOARD if y_out > 0 else -INBOARD
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path, span = _plate(stage, name, x0, x1, y_in, y_out)
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print(f" {name:20s} straight x[{span[0]:+.3f},{span[1]:+.3f}] "
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f"y[{span[2]:+.3f},{span[3]:+.3f}]")
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x0, x1 = -7.03, -6.39
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quad = [(x0, INBOARD), (x1, INBOARD), (x1, LANE_C_EDGE(x1)), (x0, LANE_C_EDGE(x0))]
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_trapezoid(stage, "PlowTransition_C", quad)
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print(f" PlowTransition_C trapezoid corners "
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+ " ".join(f"({a:+.2f},{b:+.2f})" for a, b in quad))
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print(f" outer edge follows the lane diagonal y = x + 7.637 "
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f"({LANE_C_EDGE(x0):+.3f} at x={x0}, {LANE_C_EDGE(x1):+.3f} at x={x1})")
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stage.GetRootLayer().Save()
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print(f"saved {SCENE}")
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print(f"driven surface now reaches |y| = {INBOARD}; the blade releases goods at ~0.26")
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if __name__ == "__main__":
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main()
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