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/move_lanes_inboard.py

@@ -0,0 +1,102 @@
+#!/usr/bin/env python3
+"""Bring both plow lanes inboard so the blade can actually reach them.
+
+    /home/whatevenif/isaacsim/python.sh scripts/move_lanes_inboard.py [--shift 0.07]
+
+Measured over the 25-object run: **no item ever crossed y = 0.39**, while the lanes start
+at |y| = 0.45. 16 of 25 came to rest against the blade still on the belt. 0.39 is not a
+coincidence - it is where the blade tip is: a 600 mm arm at 42 deg reaches 0.6*sin42 =
+0.402 m, and the item is pushed to the tip and no further, because that is where the blade
+ends. Raising the angle cannot close it either: at the joint's 45 deg limit the tip reaches
+0.424, still short.
+
+So the lane comes to the blade. Each lane moves 70 mm toward the centreline, putting its
+near edge at |y| = 0.38 - inside the tip's reach with ~20 mm to spare.
+
+**Its tray moves with it.** Moving the lane alone would widen the gap between the lane end
+and the tray wall from 100 mm to 170 mm, and goods would fall short onto the floor instead
+of into the tray. Lane and tray are one assembly and are shifted by the same vector.
+
+Known cost: the lane now overlaps the carrying belt by 70 mm (the belt is +-0.45 wide).
+Two belt colliders share that strip at the same height, with different surface velocities.
+That strip is exactly the hand-over region, so goods there being pulled by both is the
+intended behaviour rather than a defect - but it is the thing to look at first if items
+start jittering at the lane entry.
+"""
+from __future__ import annotations
+
+import argparse
+import sys
+from pathlib import Path
+
+from pxr import Gf, Usd, UsdGeom
+
+SCENE = Path(__file__).resolve().parent.parent / "scene" / "plow_cell.usd"
+
+# prim -> how far to move it in +y (toward the centreline from its own side)
+GROUPS = {
+    "B": dict(shift=+1.0, prims=["/ConveyorTrack_01", "/World/PlowCornerDeck_B"],
+              tray_prefix="B_"),
+    "C": dict(shift=-1.0, prims=["/World/ConveyorTrack_01", "/World/PlowCornerDeck_C",
+                                 "/World/PlowTransition_C"],
+              tray_prefix="C_"),
+}
+TRAYS = "/World/PlowContainers"
+
+
+def _shift_y(stage, path, dy):
+    prim = stage.GetPrimAtPath(path)
+    if not prim.IsValid():
+        return False
+    xf = UsdGeom.Xformable(prim)
+    for op in xf.GetOrderedXformOps():
+        if op.GetOpType() == UsdGeom.XformOp.TypeTranslate:
+            t = op.Get()
+            op.Set(type(t)(t[0], t[1] + dy, t[2]))
+            return True
+        if op.GetOpType() == UsdGeom.XformOp.TypeTransform:
+            M = Gf.Matrix4d(op.Get())
+            tr = M.ExtractTranslation()
+            M.SetTranslateOnly(Gf.Vec3d(tr[0], tr[1] + dy, tr[2]))
+            op.Set(M)
+            return True
+    xf.AddTranslateOp().Set(Gf.Vec3d(0.0, dy, 0.0))
+    return True
+
+
+def _edge(stage, path):
+    r = UsdGeom.BBoxCache(0, ["default"]).ComputeWorldBound(
+        stage.GetPrimAtPath(path)).ComputeAlignedRange()
+    return None if r.IsEmpty() else (r.GetMin()[1], r.GetMax()[1])
+
+
+def main():
+    ap = argparse.ArgumentParser()
+    ap.add_argument("--shift", type=float, default=0.07, help="metres toward the centreline")
+    args = ap.parse_args()
+    if not SCENE.exists():
+        sys.exit(f"{SCENE} not found")
+    stage = Usd.Stage.Open(str(SCENE))
+
+    for tag, g in GROUPS.items():
+        dy = g["shift"] * args.shift
+        before = _edge(stage, g["prims"][0])
+        moved = [p for p in g["prims"] if _shift_y(stage, p, dy)]
+        trays = [c.GetPath().pathString
+                 for c in stage.GetPrimAtPath(TRAYS).GetChildren()
+                 if c.GetName().startswith(g["tray_prefix"])]
+        moved += [p for p in trays if _shift_y(stage, p, dy)]
+        after = _edge(stage, g["prims"][0])
+        near_before = min(abs(v) for v in before) if before else float("nan")
+        near_after = min(abs(v) for v in after) if after else float("nan")
+        print(f"lane {tag}: dy {dy:+.3f} m, {len(moved)} prims "
+              f"({len(trays)} of them tray parts)")
+        print(f"          near edge |y| {near_before:.3f} -> {near_after:.3f}  "
+              f"(blade tip reaches 0.402)")
+
+    stage.GetRootLayer().Save()
+    print(f"saved {SCENE}")
+
+
+if __name__ == "__main__":
+    main()