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>
73 lines
3.0 KiB
Python
73 lines
3.0 KiB
Python
"""Why goods stop at x=-6.0: place one item either side of the belt junction and watch.
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Run A parks an item at x=-5.5, upstream of the transfer, and lets it drive at it.
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Run B starts one already at x=-6.3, past the transfer, on the wide belt through the plow.
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If A stalls and B runs, the transfer is blocked by structure, not by a dead belt. The
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suspect is the downstream end frame of ConveyorTrack_03: `open_junction()` clears the shell
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collider on the plow track and both lanes, but not on the track goods arrive *on*, so its
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end plate stands across the path at exactly x=-6.0.
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"""
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import sys, time
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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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# The live Isaac process keeps every module it has ever imported, so an edited
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# robozon_sorter/ on disk is invisible to a second run in the same session. Drop the
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# package from sys.modules first or you spend the evening re-testing the old code.
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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
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importlib.invalidate_caches() # a *new* module file is invisible until the finder is reset
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import omni.timeline, isaacsim.core.experimental.utils.app as app_utils
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from pxr import UsdPhysics
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from robozon_sorter import config as C
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from robozon_sorter.sim import plow_sort, plow_vision
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from robozon_sorter.sim.mechanics import Cell
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OPEN_03 = bool(globals().get("open_03", False)) # also clear ConveyorTrack_03's shell
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START_X = float(globals().get("start_x", -5.5))
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ITEM = globals().get("item", "barrel")
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SECONDS = float(globals().get("seconds", 6.0))
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stage, info = plow_vision.load(belt_speed=1.0, script_control=True)
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plow_sort.keep_lanes_active(stage)
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plow_sort.configure_lanes(stage, 1.0)
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opened = plow_sort.open_junction(stage)
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extra = None
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if OPEN_03:
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p = stage.GetPrimAtPath("/World/ConveyorTrack_03/SM_ConveyorBelt_A24_02")
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a = p.GetAttribute("physics:collisionEnabled") or \
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UsdPhysics.CollisionAPI.Apply(p).CreateCollisionEnabledAttr()
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a.Set(False)
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extra = str(p.GetPath())
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print(f"opened {len(opened)} shells, extra={extra}")
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items = {k: v["zone"] for k, v in info["items"].items()}
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await app_utils.update_app_async(steps=30)
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cell = Cell(stage, items.keys())
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cell.park_all()
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await app_utils.update_app_async(steps=10)
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cell.place(ITEM, (START_X, 0.0, C.BELT_Z + 0.10))
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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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print(f"\n{ITEM} from x={START_X} (plow at x={C.PLOW_POS[0]})")
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t0, last = time.time(), None
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while time.time() - t0 < SECONDS:
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await app_utils.update_app_async(steps=12)
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p = cell.pose(ITEM)
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x, y, z = (float(v) for v in p[:3])
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moved = "" if last is None else f" dx={x - last:+.3f}"
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print(f" t={time.time() - t0:4.1f} x={x:+.3f} y={y:+.3f} z={z:+.3f}{moved}")
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last = x
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if z < C.BELT_Z - 0.5:
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print(" -> fell off"); break
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app_utils.stop()
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await app_utils.update_app_async(steps=10)
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print(f"verdict: {'REACHED PLOW' if last is not None and last < -6.6 else 'STALLED at x=%.2f' % (last or 0)}")
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