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>

scripts/fix_plow_reach_and_trays.py

@@ -0,0 +1,110 @@
+#!/usr/bin/env python3
+"""Close the two geometry faults that stop goods reaching a tray.
+
+    /home/whatevenif/isaacsim/python.sh scripts/fix_plow_reach_and_trays.py
+
+**1. Tray B is walled shut on the side goods arrive from.** Measured:
+
+        B_W0 (near, y -2.55)  z 1.16 .. 2.00     <- 220 mm ABOVE the lane belt (1.7805)
+        B_W1 (far,  y -3.35)  z 1.16 .. 1.70
+        tray C, correctly built:
+        C_W1 (near, y +1.88)  z 1.16 .. 1.70     <- 80 mm BELOW the belt, goods slide over
+        C_W0 (far,  y +2.68)  z 1.16 .. 2.00
+
+    B has its tall backboard on the near face instead of the far one, so the lane runs
+    goods straight into a wall. The two heights are swapped to match C.
+
+**2. The plow cannot reach the lane.** The arm is 600 mm on a hinge at the belt centre, so
+    its tip reaches ``0.6 * sin(limit)``. At the authored +-35 deg that is 344 mm, while
+    the lanes start at |y| = 450 mm: a 106 mm dead zone no command can cross. Goods are
+    nudged to about y 0.15 and left on the line, which is exactly what every trace shows.
+
+    Raising the joint limit to +-45 deg gives 424 mm of tip travel. That is still short of
+    450 mm *at the centre of the item*, but an item is not a point: a 150 mm-wide box is
+    carried by the lane once its near edge crosses, i.e. at a centre of about 375 mm, so
+    42 deg (402 mm) delivers it with margin. Moving the lanes inboard instead was rejected -
+    they would overlap the main belt, and two coincident belt colliders at the same height
+    is its own failure.
+
+Both edits are written back into scene/plow_cell.usd.
+"""
+from __future__ import annotations
+
+import sys
+from pathlib import Path
+
+from pxr import Usd, UsdGeom, UsdPhysics
+
+SCENE = Path(__file__).resolve().parent.parent / "scene" / "plow_cell.usd"
+HINGE = "/World/Diverters/DiverterEnd/ArmHinge"
+TRAYS = "/World/PlowContainers"
+
+NEW_LIMIT = 45.0            # joint hard limit, degrees either side
+NEAR_WALL_TOP = 1.70        # must sit below the lane belt at 1.7805
+FAR_WALL_TOP = 2.00
+
+
+def _range(stage, path):
+    return UsdGeom.BBoxCache(0, ["default"]).ComputeWorldBound(
+        stage.GetPrimAtPath(path)).ComputeAlignedRange()
+
+
+def _set_top(stage, path, top):
+    """scale a wall Cube about its base so its top lands at `top`"""
+    prim = stage.GetPrimAtPath(path)
+    r = _range(stage, path)
+    z0, z1 = r.GetMin()[2], r.GetMax()[2]
+    if abs(z1 - top) < 1e-4:
+        return None
+    want = max(top - z0, 0.02)
+    xf = UsdGeom.Xformable(prim)
+    for op in xf.GetOrderedXformOps():
+        if op.GetOpType() == UsdGeom.XformOp.TypeScale:
+            s = op.Get()
+            op.Set(type(s)(s[0], s[1], s[2] * (want / max(z1 - z0, 1e-6))))
+            break
+    else:
+        return None
+    # keep the base where it was: scaling a centred cube moves it by half the delta
+    for op in xf.GetOrderedXformOps():
+        if op.GetOpType() == UsdGeom.XformOp.TypeTranslate:
+            t = op.Get()
+            op.Set(type(t)(t[0], t[1], t[2] + (want - (z1 - z0)) / 2.0))
+            break
+    return (round(z1, 3), round(_range(stage, path).GetMax()[2], 3))
+
+
+def main():
+    if not SCENE.exists():
+        sys.exit(f"{SCENE} not found")
+    stage = Usd.Stage.Open(str(SCENE))
+
+    print("tray B - swap the tall backboard to the far face")
+    for wall, top, tag in ((f"{TRAYS}/B_W0", NEAR_WALL_TOP, "near (goods arrive)"),
+                           (f"{TRAYS}/B_W1", FAR_WALL_TOP, "far (backboard)")):
+        if not stage.GetPrimAtPath(wall).IsValid():
+            print(f"  {wall} missing"); continue
+        changed = _set_top(stage, wall, top)
+        print(f"  {wall.rsplit('/', 1)[1]:6s} {tag:22s} "
+              + (f"top {changed[0]} -> {changed[1]}" if changed else "already correct"))
+
+    print(f"plow hinge - raise the limit so the arm can reach the lane")
+    hinge = stage.GetPrimAtPath(HINGE)
+    if hinge.IsValid():
+        j = UsdPhysics.RevoluteJoint(hinge)
+        lo, hi = j.GetLowerLimitAttr().Get(), j.GetUpperLimitAttr().Get()
+        j.GetLowerLimitAttr().Set(-NEW_LIMIT)
+        j.GetUpperLimitAttr().Set(NEW_LIMIT)
+        import math
+        print(f"  limits {lo:+.0f}/{hi:+.0f} -> {-NEW_LIMIT:+.0f}/{NEW_LIMIT:+.0f}  "
+              f"(tip reach {0.6 * math.sin(math.radians(abs(hi))):.3f} -> "
+              f"{0.6 * math.sin(math.radians(NEW_LIMIT)):.3f} m, lane edge at 0.450)")
+    else:
+        print(f"  {HINGE} missing")
+
+    stage.GetRootLayer().Save()
+    print(f"saved {SCENE}")
+
+
+if __name__ == "__main__":
+    main()