dasha_f
0d32f32db0
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>
57 lines
2.9 KiB
Python
57 lines
2.9 KiB
Python
"""1) Blade vs item contact height at the pusher. 2) Actual authored deck surfaceVelocity
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magnitudes vs the commanded 1.0 m/s - the log showed items crawling 8-50s across ~1-2m
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of deck (expected ~1-2s), which smells like the drive_belt() scale-correction being wrong
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for these particular Cube prims (same class of bug as ConveyorTrack_04's documented
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0.5-scale issue)."""
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import omni.usd
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from pxr import Usd, UsdGeom, PhysxSchema, Gf
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stage = omni.usd.get_context().get_stage()
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bbc = UsdGeom.BBoxCache(Usd.TimeCode.Default(), [UsdGeom.Tokens.default_, UsdGeom.Tokens.render])
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print("=== pusher blade vs belt height ===")
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blade = stage.GetPrimAtPath("/World/Diverters/DiverterY_Split/Pusher/Geom")
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r = bbc.ComputeWorldBound(blade).ComputeAlignedRange()
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print(f" blade z[{r.GetMin()[2]:+.3f}..{r.GetMax()[2]:+.3f}]")
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belt = stage.GetPrimAtPath("/World/ConveyorTrack_03/Belt")
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r2 = bbc.ComputeWorldBound(belt).ComputeAlignedRange()
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print(f" ConveyorTrack_03/Belt top z={r2.GetMax()[2]:+.3f}")
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print("\n=== item rest heights (bottom of bbox) for the 11 named items, unposed ===")
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import sys
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sys.path.insert(0, "/home/dasha/robozon-sorter")
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from robozon_sorter import config as C
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items_dir = C.ROOT / "assets" / "items"
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for name in ["bottle","box_300x200x200","box_400x400x300","lunchbox","bag","detergent",
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"pouf","pen","plate","cylinder","helmet"]:
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tmp_stage = Usd.Stage.CreateInMemory()
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prim = tmp_stage.DefinePrim("/probe", "Xform")
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prim.GetReferences().AddReference(str(items_dir / f"{name}.usd"))
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bb2 = UsdGeom.BBoxCache(Usd.TimeCode.Default(), [UsdGeom.Tokens.default_, UsdGeom.Tokens.render])
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rr = bb2.ComputeWorldBound(prim).ComputeAlignedRange()
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if rr.IsEmpty():
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print(f" {name:18s} EMPTY BBOX"); continue
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mn, mx = rr.GetMin(), rr.GetMax()
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print(f" {name:18s} local z[{mn[2]:+.3f}..{mx[2]:+.3f}] height={mx[2]-mn[2]:.3f}")
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print("\n=== deck actual surfaceVelocity (authored) vs commanded speed=1.0 ===")
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for path in ["/World/PlowTransition_B", "/World/PlowCornerDeck_B",
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"/World/PlowTransition_C", "/World/PlowCornerDeck_C"]:
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prim = stage.GetPrimAtPath(path)
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if not prim.IsValid():
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print(f" {path} MISSING"); continue
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sv = prim.GetAttribute("physxSurfaceVelocity:surfaceVelocity")
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v = sv.Get() if sv else None
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mag = (v[0]**2+v[1]**2+v[2]**2)**0.5 if v else 0.0
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# world-space check: transform local surfaceVelocity to world using current xform
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xc = UsdGeom.XformCache()
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M = xc.GetLocalToWorldTransform(prim)
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world_v = M.TransformDir(Gf.Vec3d(*v)) if v else Gf.Vec3d(0,0,0)
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world_mag = world_v.GetLength()
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scale_op = None
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for op in UsdGeom.Xformable(prim).GetOrderedXformOps():
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if op.GetOpType() == UsdGeom.XformOp.TypeScale:
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scale_op = op.Get()
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print(f" {path}")
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print(f" local surfaceVelocity={v} |local|={mag:.3f} |world|={world_mag:.3f} scale={scale_op}")
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