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>
84 lines
3.4 KiB
Python
Executable File
84 lines
3.4 KiB
Python
Executable File
#!/usr/bin/env python3
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"""Fetch the conveyor art that scene/sorter.usd references.
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python scripts/fetch_assets.py
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~270 MB, too big for git. Downloads in resumable Range chunks: the Omniverse bucket is
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slow enough that a plain GET truncates, and a half-written USD fails to compose with a
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confusing "could not open asset" rather than an obvious size error.
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"""
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from __future__ import annotations
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import os, sys, time, urllib.request
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from pathlib import Path
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ROOT = Path(__file__).resolve().parent.parent
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DEST = ROOT / "assets" / "conveyors"
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BASE = ("https://omniverse-content-production.s3-us-west-2.amazonaws.com/"
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"Assets/Isaac/6.0/Isaac/Props/Conveyors/")
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CHUNK, TRIES = 1 << 21, 12
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# the scene composes these; the Textures/ and Material Library/ folders come with them
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FILES = ["ConveyorBelt_A06.usd", "ConveyorBelt_A24.usd"]
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TEXTURES = [
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"Textures/M_ConveyorBelt_A01_Belt.usd", "Textures/M_ConveyorBelt_A01_Decal.usd",
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"Textures/MetalPainted_Blue_Glossy_A.usd", "Textures/Plastic_Orange_A.usd",
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"Textures/Plastic_Rough_Black_A.usd", "Textures/Steel_A.usd",
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"Textures/T_ConveyorBelt_A01_Belt_Albedo.png", "Textures/T_ConveyorBelt_A01_Belt_Normal.png",
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"Textures/T_ConveyorBelt_A01_Belt_ORM.png",
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"Textures/T_ConveyorsBelt_A01_Decal_Albedo.png", "Textures/T_ConveyorsBelt_A01_Decal_Alpha.png",
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"Textures/T_ConveyorsBelt_A01_Decal_ORM.png",
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"Material%20Library/physics_material.usd",
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]
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def size_of(url):
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try:
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req = urllib.request.Request(url, method="HEAD")
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with urllib.request.urlopen(req, timeout=60) as r:
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return int(r.headers.get("Content-Length", 0))
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except Exception:
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return 0
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def grab(url, out: Path):
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total = size_of(url)
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have = out.stat().st_size if out.exists() else 0
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if total and have == total:
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print(f" {out.name}: present"); return True
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out.parent.mkdir(parents=True, exist_ok=True)
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if not total:
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urllib.request.urlretrieve(url, out); return out.exists()
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pos = have if have < total else 0
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with open(out, "r+b" if pos else "wb") as fh:
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fh.seek(pos); t0 = time.time()
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while pos < total:
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end = min(pos + CHUNK - 1, total - 1)
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for a in range(TRIES):
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try:
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req = urllib.request.Request(url)
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req.add_header("Range", f"bytes={pos}-{end}")
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with urllib.request.urlopen(req, timeout=120) as r:
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data = r.read()
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if len(data) != end - pos + 1:
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raise IOError("short chunk")
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fh.write(data); fh.flush(); pos += len(data)
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print(f"\r {out.name}: {100.0*pos/total:5.1f}%"
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f" {(pos-have)/max(time.time()-t0,1e-6)/1024:6.0f} KB/s", end="", flush=True)
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break
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except Exception as exc:
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if a == TRIES - 1:
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print(f"\n {out.name}: FAILED at {pos}: {exc}"); return False
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time.sleep(min(2 ** a, 20))
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print()
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return out.stat().st_size == total
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def main():
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print(f"fetching conveyor art into {DEST}")
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ok = True
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for rel in FILES + TEXTURES:
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local = DEST / rel.replace("%20", " ")
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ok &= grab(BASE + rel, local)
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print("\nall present" if ok else "\nincomplete - re-run, downloads resume")
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return 0 if ok else 1
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if __name__ == "__main__":
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sys.exit(main())
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