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/narrow_plow.py

@@ -0,0 +1,126 @@
+#!/usr/bin/env python3
+"""Bring the plow arm to a 600 mm sweep width.
+
+    python scripts/narrow_plow.py [--width 0.60]
+
+The authored arm is 730 mm along its own long axis. That is wider than the 450 mm belt by
+enough that it overhangs both rails: it clips goods it should have passed and shoulders
+others off the lane instead of steering them. 600 mm still spans the belt with margin while
+leaving the lane edges clear.
+
+Only the scale on `DiverterEnd/Arm/Geom` changes. The hinge, its drive, the limits and the
+arm's rigid body are untouched, so the kinematics are exactly as authored - the arm is
+simply shorter.
+
+Which local axis carries the length is not obvious: Geom is rotated -90 deg about Z and its
+parent another 180 deg, so the mesh's own X and Y do not map to the world axes you would
+guess. The script measures instead of assuming.
+"""
+from __future__ import annotations
+
+import argparse
+import shutil
+import sys
+from pathlib import Path
+
+import numpy as np
+from pxr import Gf, Usd, UsdGeom
+
+ROOT = Path(__file__).resolve().parent.parent
+CELL = ROOT / "scene" / "plow_cell.usd"
+ARM_GEOM = "/World/Diverters/DiverterEnd/Arm/Geom"
+ARM = "/World/Diverters/DiverterEnd/Arm"
+
+
+def arm_length(stage):
+    """longest principal extent of the arm's mesh points, in world metres"""
+    cache = UsdGeom.XformCache()
+    pts = []
+    for prim in Usd.PrimRange(stage.GetPrimAtPath(ARM)):
+        mesh = UsdGeom.Mesh(prim)
+        if not mesh:
+            continue
+        p = mesh.GetPointsAttr().Get()
+        if not p:
+            continue
+        M = cache.GetLocalToWorldTransform(prim)
+        pts.append(np.array([M.Transform(Gf.Vec3d(*q)) for q in p]))
+    if not pts:
+        return None
+    P = np.vstack(pts)
+    Q = P - P.mean(0)
+    _, _, vt = np.linalg.svd(Q, full_matrices=False)
+    return float(np.ptp(Q @ vt[0]))
+
+
+def main():
+    ap = argparse.ArgumentParser()
+    ap.add_argument("--width", type=float, default=0.60, help="target sweep width, metres")
+    args = ap.parse_args()
+
+    if not CELL.exists():
+        print(f"{CELL} not found")
+        return 1
+
+    stage = Usd.Stage.Open(str(CELL))
+    geom = stage.GetPrimAtPath(ARM_GEOM)
+    if not geom.IsValid():
+        print(f"{ARM_GEOM} missing - is this plow_cell.usd?")
+        return 1
+
+    before = arm_length(stage)
+    if not before:
+        print("arm carries no mesh points - is assets/plow/ populated?")
+        return 1
+    print(f"arm length now {before*1000:.0f} mm, target {args.width*1000:.0f} mm")
+
+    xf = UsdGeom.Xformable(geom)
+    scale_op = None
+    for op in xf.GetOrderedXformOps():
+        if op.GetOpType() == UsdGeom.XformOp.TypeScale:
+            scale_op = op
+    if scale_op is None:
+        scale_op = xf.AddScaleOp()
+        scale_op.Set(Gf.Vec3f(1, 1, 1))
+    base = Gf.Vec3f(scale_op.Get() or Gf.Vec3f(1, 1, 1))
+
+    # find which local axis the length rides on, by testing rather than reasoning about
+    # the two stacked rotations
+    factor = args.width / before
+    best = None
+    for axis in (0, 1, 2):
+        trial = Gf.Vec3f(base)
+        trial[axis] = base[axis] * factor
+        scale_op.Set(trial)
+        got = arm_length(stage)
+        print(f"  scale on local {'XYZ'[axis]} -> {got*1000:.0f} mm")
+        if best is None or abs(got - args.width) < abs(best[1] - args.width):
+            best = (axis, got, trial)
+    axis, got, trial = best
+    scale_op.Set(trial)
+
+    if abs(got - args.width) > 0.005:
+        print(f"closest achievable was {got*1000:.0f} mm on local {'XYZ'[axis]} - "
+              "the arm's length may not lie on a single local axis")
+        return 1
+
+    backup = CELL.with_suffix(".usd.prewidth")
+    if not backup.exists():
+        shutil.copy(CELL, backup)
+        print(f"backup -> {backup.name}")
+    stage.GetRootLayer().Save()
+
+    check = Usd.Stage.Open(str(CELL))
+    final = arm_length(check)
+    cache = UsdGeom.BBoxCache(0, ["default", "render"], useExtentsHint=True)
+    r = cache.ComputeWorldBound(check.GetPrimAtPath(ARM)).ComputeAlignedRange()
+    mn, mx = r.GetMin(), r.GetMax()
+    print(f"\nsaved. arm is now {final*1000:.0f} mm "
+          f"(scale {tuple(round(v,4) for v in trial)} on local {'XYZ'[axis]})")
+    print(f"  world AABB x[{mn[0]:.3f}..{mx[0]:.3f}] y[{mn[1]:.3f}..{mx[1]:.3f}] "
+          f"z[{mn[2]:.3f}..{mx[2]:.3f}]")
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())