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/probe_push_physics.py

@@ -0,0 +1,110 @@
+"""Does the kinematic blade actually PUSH, or does it pass through and let PhysX untangle?
+
+The question the whole plow rests on and which nothing so far has answered. A kinematic body
+moved with `setKinematicTarget` sweeps: PhysX derives a velocity from the pose delta and
+transfers momentum to whatever it meets. A body moved by writing its pose is a **teleport**:
+it reappears somewhere else, and anything it now overlaps is pushed apart by depenetration
+only - a shove with no momentum behind it, roughly proportional to how deep the overlap is
+rather than to how fast the blade was going.
+
+The two look identical in a viewport and identical in a contact sensor. They differ in one
+measurable: the item's velocity while the blade is on it.
+
+    push     item picks up lateral speed close to the blade's tangential speed
+    teleport item barely moves, gets a small separation nudge, and stops
+
+This puts one item against a stationary blade, sweeps the blade through it, and records the
+item's velocity every step. It also confirms the arm's simulated pose actually changes - if
+PhysX never sees the rotation, the blade is a ghost and no amount of rate tuning matters.
+"""
+import sys
+import time
+
+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 pxr import UsdPhysics
+
+from robozon_sorter import config as C
+from robozon_sorter.sim import plow_cell, plow_vision, staging
+from robozon_sorter.sim.mechanics import Cell
+from robozon_sorter.sim.plow import Plow
+
+ITEM = globals().get("item", "box_300x200x200")
+RATE = float(globals().get("rate", 300.0))
+BELT = bool(globals().get("belt", True))     # is the belt driving the item at the time
+
+stage, info = plow_vision.load(belt_speed=0.8 if BELT else 0.0, script_control=True,
+                               meshes_dir=f"{REPO}/assets/items")
+staging.stage_cell(stage, preset="bright", floor=True)
+items = {k: v["zone"] for k, v in info["items"].items()}
+await app_utils.update_app_async(steps=30)
+cell = Cell(stage, items.keys())
+cell.park_all()
+await app_utils.update_app_async(steps=10)
+
+arm = stage.GetPrimAtPath(C.PLOW_ARM)
+print("--- what the arm IS ---")
+print("  kinematic :", UsdPhysics.RigidBodyAPI(arm).GetKinematicEnabledAttr().Get())
+print("  hinge on  :", stage.GetPrimAtPath(C.PLOW_HINGE).GetAttribute(
+    "physics:jointEnabled").Get())
+
+plow = Plow(stage, kinematic=True)
+plow.target(0.0)
+# put the item just in front of the blade, offset to the side the blade sweeps toward
+cell.place(ITEM, (-6.75, 0.10, C.BELT_Z + 0.06))
+tl = omni.timeline.get_timeline_interface()
+tl.play()
+await app_utils.update_app_async(steps=40)
+
+
+def vel():
+    v = cell._rp[ITEM].get_velocities()[0].numpy()[0]
+    return float(v[0]), float(v[1]), float((v[0] ** 2 + v[1] ** 2 + v[2] ** 2) ** 0.5)
+
+
+p0 = cell.pose(ITEM)
+print(f"\n--- before: item at x={float(p0[0]):+.3f} y={float(p0[1]):+.3f}, "
+      f"arm measured {plow.angle:+.1f} deg ---")
+
+print(f"\n--- sweeping to +42 deg at {RATE} deg/s ---")
+print(f"{'step':>4} {'cmd':>7} {'arm':>7} {'item y':>8} {'vy':>7} {'|v|':>6}")
+dt = 1.0 / 120.0
+rows = []
+for i in range(220):
+    done = plow.step_toward(42.0, dt, rate=RATE)
+    await app_utils.update_app_async(steps=1)
+    p = cell.pose(ITEM)
+    vx, vy, sp = vel()
+    rows.append((plow.commanded, plow.angle, float(p[1]), vy, sp))
+    if i % 12 == 0 or (done and i % 4 == 0):
+        print(f"{i:4d} {plow.commanded:7.1f} {plow.angle:7.1f} {float(p[1]):8.3f} "
+              f"{vy:7.2f} {sp:6.2f}")
+    if done and i > 60:
+        break
+
+arm_moved = max(abs(r[1]) for r in rows)
+peak_vy = max(abs(r[3]) for r in rows)
+y_gain = max(r[2] for r in rows) - float(p0[1])
+tip_speed = C.PLOW_ARM_LEN * RATE * 3.14159 / 180.0
+
+print(f"\n--- verdict ---")
+print(f"  arm reached           {arm_moved:.1f} deg      (commanded 42)")
+print(f"  blade tip speed       {tip_speed:.2f} m/s")
+print(f"  item peak |vy|        {peak_vy:.2f} m/s")
+print(f"  item lateral travel   {y_gain:+.3f} m")
+if arm_moved < 5:
+    print("  => PhysX never saw the rotation: the blade is a ghost")
+elif peak_vy < 0.15 * tip_speed:
+    print("  => TELEPORT, not a sweep: the arm arrives without momentum and the item only")
+    print("     gets a depenetration nudge. Rate tuning cannot fix this.")
+else:
+    print("  => real push: the item takes up a fair share of the blade's tip speed")
+tl.stop()