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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#!/usr/bin/env python3
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"""Sweep-rate tuning as a standalone Isaac Sim process.
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/home/whatevenif/isaacsim/python.sh scripts/tune_sweep_standalone.py \
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--rates 120,200,300,450 --items 4 --headless
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Same experiment as `tune_sweep_rate.py`, but it brings up its own `SimulationApp` instead
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of being sent into a live Kit through the code-editor socket. That socket stopped returning
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results on anything longer than a minute or two - the code kept running (one run wrote its
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log in full) but the reply never arrived, so six runs in a row looked like failures. A
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standalone process writes its log itself and can be read afterwards, which removes the
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connection from the experiment entirely.
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Each rate is judged on the lane-entry beams, not on delivery alone: an item left on the belt
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and an item thrown to the floor both score zero and need opposite corrections.
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crossed the push reached the lane -> low means the sweep is too slow
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speed how fast it crossed -> high means it is throwing them
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homed completed returns to centre -> the blade must park in the middle between items
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"""
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from __future__ import annotations
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import argparse
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import json
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import sys
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from pathlib import Path
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ROOT = Path(__file__).resolve().parent.parent
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def parse_args(argv=None):
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p = argparse.ArgumentParser(description="tune the plow sweep rate")
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p.add_argument("--rates", default="120,200,300,450", help="deg/s, comma separated")
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p.add_argument("--items", type=int, default=4, help="how many B/C items per rate")
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p.add_argument("--speed", type=float, default=0.8, help="belt m/s")
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p.add_argument("--pitch", type=float, default=3.5, help="metres between items")
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p.add_argument("--seconds", type=float, default=60.0, help="budget per rate")
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p.add_argument("--headless", action="store_true")
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p.add_argument("--out", default=str(ROOT / "runs" / "sweep_tuning.json"))
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return p.parse_args(argv)
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async def _run(app_utils, args):
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import omni.timeline
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from omni.physx import get_physx_interface
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from robozon_sorter import config as C
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from robozon_sorter.sim import lane_beams, plow_sort, plow_vision, staging
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from robozon_sorter.sim.mechanics import Cell
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from robozon_sorter.sim.spawner import AutoFeeder
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rates = [float(r) for r in args.rates.split(",") if r.strip()]
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stage, info = plow_vision.load(belt_speed=args.speed, script_control=True,
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meshes_dir=str(ROOT / "assets" / "items"))
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staging.stage_cell(stage, preset="bright", floor=True)
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plow_sort.keep_lanes_active(stage)
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lanes = plow_sort.configure_lanes(stage, args.speed)
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plow_sort.open_junction(stage)
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items = {k: v["zone"] for k, v in info["items"].items()}
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print(f"scene ready: {len(items)} items, {len(lanes)} lanes/decks driven")
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await app_utils.update_app_async(steps=40)
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cell = Cell(stage, items.keys())
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order = [n for n in sorted(items) if items[n] in ("B", "C")][:args.items]
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want = {"B": "container_B", "C": "container_C"}
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print(f"tuning on {len(order)} B/C items: {order}")
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timeline = omni.timeline.get_timeline_interface()
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results = []
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for rate in rates:
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C.PLOW_SWEEP_RATE = rate
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cell.park_all()
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await app_utils.update_app_async(steps=20)
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sorter = plow_sort.PlowSorter(stage, cell, items, plow_sort.calibrate_mapping())
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beams = lane_beams.LaneBeams(stage, cell, plow=sorter.plow)
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def _step(dt, _s=sorter, _b=beams, _r=rate):
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try:
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_s.update(dt)
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_b.tick(dt)
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_b.poll(rate=_r)
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except Exception:
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pass
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sub = get_physx_interface().subscribe_physics_step_events(_step)
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feeder = AutoFeeder(cell, order=order, pitch=args.pitch, route={}).install()
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app_utils.play(commit=True)
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await app_utils.update_app_async(steps=20)
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for _ in range(int(args.seconds * 4)):
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await app_utils.update_app_async(steps=15)
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if len(beams.crossings) >= len(order):
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break
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app_utils.stop()
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await app_utils.update_app_async(steps=15)
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feeder.remove()
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sub = None
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cr = beams.report()
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sp = [c["speed"] for c in cr]
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where = {n: sorter.lane_of(n) for n in order}
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delivered = sum(1 for n in order if where[n] == want[items[n]])
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row = dict(rate=rate, crossed=len(cr), of=len(order), delivered=delivered,
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homed=sorter.homed,
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mean_cross_speed=round(sum(sp) / len(sp), 2) if sp else None,
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max_cross_speed=round(max(sp), 2) if sp else None,
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where=where, crossings=cr)
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results.append(row)
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print(f" rate {rate:6.0f} deg/s (tip {C.PLOW_ARM_LEN * rate * 3.14159 / 180:.2f} m/s)"
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f" -> crossed {len(cr)}/{len(order)} delivered {delivered} "
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f"homed {sorter.homed} cross v mean {row['mean_cross_speed']} "
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f"max {row['max_cross_speed']}")
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print("\n===== SWEEP RATE TUNING =====")
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print(f"{'rate':>7} {'tip m/s':>8} {'crossed':>9} {'delivered':>10} {'homed':>6} "
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f"{'mean v':>8} {'max v':>7}")
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for r in results:
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print(f"{r['rate']:7.0f} {0.6 * r['rate'] * 3.14159 / 180:8.2f} "
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f"{r['crossed']:4d}/{r['of']:<4d} {r['delivered']:10d} {r['homed']:6d} "
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f"{str(r['mean_cross_speed']):>8} {str(r['max_cross_speed']):>7}")
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if results:
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best = max(results, key=lambda r: (r["delivered"], r["crossed"],
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-(r["max_cross_speed"] or 99)))
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print(f"\nbest: {best['rate']:.0f} deg/s "
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f"crossed {best['crossed']}/{best['of']} delivered {best['delivered']}")
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out = Path(args.out)
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out.parent.mkdir(parents=True, exist_ok=True)
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out.write_text(json.dumps(dict(rates=rates, belt=args.speed, pitch=args.pitch,
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items=order, results=results), indent=2))
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print(f"log -> {out}")
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return results
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def main(argv=None):
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args = parse_args(argv)
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if str(ROOT) not in sys.path:
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sys.path.insert(0, str(ROOT))
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from isaacsim import SimulationApp
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app = SimulationApp({"headless": args.headless, "width": 1280, "height": 800})
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try:
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import asyncio
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import isaacsim.core.experimental.utils.app as app_utils
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return asyncio.get_event_loop().run_until_complete(_run(app_utils, args))
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finally:
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app.close()
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if __name__ == "__main__":
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sys.exit(0 if main() else 1)
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