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>
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dasha_f
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"""Pusher speed sweep with the CURRENT grip material + 500 mm blade.
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Earlier speed tuning (pusher_diag*.py -> PUSH_SPEED=1.3) was measured while the blade was
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still bound to the SLIPPERY DiverterMaterial (0.12/0.08); the grip fix (1.1/0.95) makes
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those numbers stale. Also tests firing IMMEDIATELY at detection vs waiting to PUSH_X+0.08:
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geometry says the item has only 0.5 m of blade (0.5 s at 1 m/s) and the wait burns 0.17 s
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of it, so the wait may be why the stroke never completes on the item.
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Outcome per trial: y_gain (needs > ~0.45 to reach the branch belt) and whether the item
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survived at belt height or was ejected / fell through.
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"""
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import sys
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REPO = "/home/dasha/robozon-sorter"
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if REPO not in sys.path:
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sys.path.insert(0, REPO)
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for _m in [k for k in list(sys.modules) if k.startswith("robozon_sorter")]:
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del sys.modules[_m]
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import importlib; importlib.invalidate_caches()
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import omni.usd, omni.timeline
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from pxr import Gf, Usd, UsdGeom, UsdPhysics, PhysxSchema
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import isaacsim.core.experimental.utils.app as app_utils
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from isaacsim.core.experimental.prims import RigidPrim
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from robozon_sorter import config as C
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from robozon_sorter.sim import scene as _scene, plow_cell_9045
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stage = omni.usd.get_context().get_stage()
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tl = omni.timeline.get_timeline_interface()
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if tl.is_playing():
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tl.stop(); await app_utils.update_app_async(steps=10)
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info = await plow_cell_9045.prepare(stage, belt_speed=1.0, script_control=True)
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print("blade dims:", info["pusher_dims"], " seat:", info["pusher_seat"])
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blade_prim = stage.GetPrimAtPath(_scene.BLADE)
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def _bop():
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for op in UsdGeom.Xformable(blade_prim).GetOrderedXformOps():
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if op.GetOpType() == UsdGeom.XformOp.TypeTranslate:
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return op
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bop = _bop(); bbase = bop.Get()
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def blade_to(y):
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bop.Set(Gf.Vec3d(bbase[0], y - _scene.BLADE_PARENT_Y, bbase[2]))
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bbc = UsdGeom.BBoxCache(Usd.TimeCode.Default(), [UsdGeom.Tokens.default_, UsdGeom.Tokens.render])
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r = bbc.ComputeWorldBound(stage.GetPrimAtPath("/World/Diverters/DiverterY_Split/Pusher/Geom")).ComputeAlignedRange()
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BLADE_X0, BLADE_X1 = r.GetMin()[0], r.GetMax()[0]
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SENSE_X = BLADE_X1 # leading (downstream-facing) edge
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print(f"blade x[{BLADE_X0:+.3f}..{BLADE_X1:+.3f}] sense at {SENSE_X:+.3f} "
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f"contact window = {(BLADE_X1-BLADE_X0)/1.0:.3f} s at 1 m/s")
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ITEM = "box_300x200x200"
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ipath = "/World/Items/_pushprobe"
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def spawn():
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if stage.GetPrimAtPath(ipath).IsValid():
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stage.RemovePrim(ipath)
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prim = UsdGeom.Xform.Define(stage, ipath).GetPrim()
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prim.GetReferences().AddReference(str(C.ROOT / "assets" / "items" / f"{ITEM}.usd"))
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xf = UsdGeom.Xformable(prim); xf.ClearXformOpOrder()
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xf.AddTranslateOp(precision=UsdGeom.XformOp.PrecisionDouble).Set(Gf.Vec3d(-3.05, 0.0, C.BELT_Z + 0.05))
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UsdPhysics.RigidBodyAPI.Apply(prim)
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UsdPhysics.RigidBodyAPI(prim).CreateKinematicEnabledAttr().Set(False)
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UsdPhysics.MassAPI.Apply(prim).CreateMassAttr().Set(0.6)
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px = PhysxSchema.PhysxRigidBodyAPI.Apply(prim)
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px.CreateEnableCCDAttr().Set(True)
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px.CreateSolverPositionIterationCountAttr().Set(24)
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px.CreateSolverVelocityIterationCountAttr().Set(8)
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px.CreateMaxDepenetrationVelocityAttr().Set(C.MAX_DEPENETRATION)
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UsdGeom.Imageable(prim).MakeVisible()
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return RigidPrim(paths=[ipath])
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print(f"\n{'speed':>6} {'wait':>6} {'y_gain':>8} {'final_x':>8} {'final_y':>8} {'final_z':>8} verdict")
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print("-" * 78)
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results = []
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for speed in (1.3, 1.7, 2.1, 2.6):
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for wait_to_center in (False, True):
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rp = spawn()
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blade_to(C.BLADE_HOME_Y)
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tl.play(); await app_utils.update_app_async(steps=8)
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# ride until the leading edge sees it
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for _ in range(400):
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if float(rp.get_world_poses()[0].numpy()[0][0]) <= SENSE_X:
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break
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await app_utils.update_app_async(steps=1)
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if wait_to_center:
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for _ in range(60):
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if float(rp.get_world_poses()[0].numpy()[0][0]) <= C.PUSH_X + 0.08:
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break
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await app_utils.update_app_async(steps=1)
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p0 = rp.get_world_poses()[0].numpy()[0].copy()
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a, b = C.BLADE_HOME_Y, 0.55
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dur = abs(b - a) / speed
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t0 = float(tl.get_current_time())
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while True:
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u = min(1.0, (float(tl.get_current_time()) - t0) / dur)
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blade_to(a + (b - a) * u)
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await app_utils.update_app_async(steps=1)
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if u >= 1.0:
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break
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for _ in range(60): # let it settle / travel on
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await app_utils.update_app_async(steps=1)
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p = rp.get_world_poses()[0].numpy()[0]
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gain = float(p[1]) - float(p0[1])
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if float(p[2]) < 1.2:
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verdict = "FELL/LOST"
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elif abs(float(p[1])) > 3.0:
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verdict = "EJECTED"
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elif float(p[1]) > 0.45:
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verdict = "DELIVERED"
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else:
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verdict = "short - stayed on main belt"
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print(f"{speed:6.1f} {str(wait_to_center):>6} {gain:8.3f} {float(p[0]):8.3f} "
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f"{float(p[1]):8.3f} {float(p[2]):8.3f} {verdict}")
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results.append((speed, wait_to_center, gain, verdict))
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tl.stop(); await app_utils.update_app_async(steps=6)
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blade_to(C.BLADE_HOME_Y)
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good = [r for r in results if r[3] == "DELIVERED"]
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print(f"\nDELIVERED configs: {[(s, w) for s, w, g, v in good]}")
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