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/live_demo_webrtc.py

@@ -0,0 +1,86 @@
+"""Self-running plow demo for watching over WebRTC.
+
+Sent into the live streaming Kit. Unlike the test harness this does **not** block in a
+loop: it hooks the feeder and the plow onto the physics step, aims the viewport at the plow,
+presses Play and returns. The cell then runs on its own for as long as the session lives,
+which is what makes it watchable in the browser - a blocking script would hold the
+interpreter and the stream would show a frozen frame.
+
+The subscriptions are stashed in the module namespace on purpose. A PhysX step
+subscription dies the moment its Python handle is garbage-collected, so a demo that forgets
+to keep a reference stops after the call returns and looks like the scene simply ignoring
+the Play button.
+"""
+import sys
+
+REPO = "/home/dasha/robozon-sorter"
+if REPO not in sys.path:
+    sys.path.insert(0, REPO)
+import importlib
+for _m in [k for k in list(sys.modules) if k.startswith("robozon_sorter")]:
+    del sys.modules[_m]
+importlib.invalidate_caches()
+
+import omni.timeline
+import isaacsim.core.experimental.utils.app as app_utils
+from isaacsim.core.rendering_manager import ViewportManager
+
+from robozon_sorter import config as C
+from robozon_sorter.sim import lane_beams, plow_sort, plow_vision, staging
+from robozon_sorter.sim.mechanics import Cell
+from robozon_sorter.sim.spawner import AutoFeeder
+
+SPEED = float(globals().get("speed", 0.8))
+PITCH = float(globals().get("pitch", 3.0))
+RATE = float(globals().get("rate", 300.0))
+N = int(globals().get("n", 8))
+
+C.BELT_SPEED = SPEED
+C.PLOW_SWEEP_RATE = RATE
+
+stage, info = plow_vision.load(belt_speed=SPEED, script_control=True,
+                               meshes_dir=f"{REPO}/assets/items")
+staging.stage_cell(stage, preset="bright", floor=True)
+plow_sort.keep_lanes_active(stage)
+lanes = plow_sort.configure_lanes(stage, SPEED)
+plow_sort.open_junction(stage)
+items = {k: v["zone"] for k, v in info["items"].items()}
+
+await app_utils.update_app_async(steps=40)
+cell = Cell(stage, items.keys())
+cell.park_all()
+await app_utils.update_app_async(steps=15)
+
+order = ([n for n in sorted(items) if items[n] == "B"][:3]
+         + [n for n in sorted(items) if items[n] == "C"][:3]
+         + [n for n in sorted(items) if items[n] == "D"][:2])[:N]
+sorter = plow_sort.PlowSorter(stage, cell, items, plow_sort.calibrate_mapping())
+beams = lane_beams.LaneBeams(stage, cell, plow=sorter.plow)
+
+
+def _step(dt):
+    try:
+        sorter.update(dt)
+        beams.tick(dt)
+        beams.poll(rate=RATE)
+    except Exception:
+        pass
+
+
+from omni.physx import get_physx_interface
+# keep the handles alive in the namespace or the callbacks are collected and the cell stops
+STEP_SUB = get_physx_interface().subscribe_physics_step_events(_step)
+FEEDER = AutoFeeder(cell, order=order, pitch=PITCH, route=dict(items), loop=True).install()
+
+# look at the plow from the discharge side so the sweep and both lanes are in frame
+ViewportManager.set_camera_view("/OmniverseKit_Persp",
+                                eye=[-5.2, -3.4, 3.2], target=[-7.0, 0.0, 1.9])
+await app_utils.update_app_async(steps=20)
+app_utils.play(commit=True)
+await app_utils.update_app_async(steps=20)
+
+print(f"LIVE: {len(order)} items looping, pitch {PITCH} m @ {SPEED} m/s, "
+      f"sweep {RATE} deg/s (tip {C.PLOW_ARM_LEN * RATE * 3.14159 / 180:.2f} m/s)")
+print(f"order: {order}")
+print(f"lanes/decks driven: {len(lanes)} | mapping {sorter.mapping}")
+print("running on the physics step - the stream stays live, nothing is blocking")