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>
87 lines
3.4 KiB
Python
87 lines
3.4 KiB
Python
"""Self-running plow demo for watching over WebRTC.
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Sent into the live streaming Kit. Unlike the test harness this does **not** block in a
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loop: it hooks the feeder and the plow onto the physics step, aims the viewport at the plow,
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presses Play and returns. The cell then runs on its own for as long as the session lives,
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which is what makes it watchable in the browser - a blocking script would hold the
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interpreter and the stream would show a frozen frame.
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The subscriptions are stashed in the module namespace on purpose. A PhysX step
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subscription dies the moment its Python handle is garbage-collected, so a demo that forgets
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to keep a reference stops after the call returns and looks like the scene simply ignoring
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the Play button.
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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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import importlib
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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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importlib.invalidate_caches()
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import omni.timeline
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import isaacsim.core.experimental.utils.app as app_utils
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from isaacsim.core.rendering_manager import ViewportManager
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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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SPEED = float(globals().get("speed", 0.8))
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PITCH = float(globals().get("pitch", 3.0))
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RATE = float(globals().get("rate", 300.0))
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N = int(globals().get("n", 8))
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C.BELT_SPEED = SPEED
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C.PLOW_SWEEP_RATE = RATE
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stage, info = plow_vision.load(belt_speed=SPEED, script_control=True,
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meshes_dir=f"{REPO}/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, 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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await app_utils.update_app_async(steps=40)
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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=15)
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order = ([n for n in sorted(items) if items[n] == "B"][:3]
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+ [n for n in sorted(items) if items[n] == "C"][:3]
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+ [n for n in sorted(items) if items[n] == "D"][:2])[:N]
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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):
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try:
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sorter.update(dt)
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beams.tick(dt)
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beams.poll(rate=RATE)
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except Exception:
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pass
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from omni.physx import get_physx_interface
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# keep the handles alive in the namespace or the callbacks are collected and the cell stops
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STEP_SUB = get_physx_interface().subscribe_physics_step_events(_step)
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FEEDER = AutoFeeder(cell, order=order, pitch=PITCH, route=dict(items), loop=True).install()
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# look at the plow from the discharge side so the sweep and both lanes are in frame
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ViewportManager.set_camera_view("/OmniverseKit_Persp",
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eye=[-5.2, -3.4, 3.2], target=[-7.0, 0.0, 1.9])
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await app_utils.update_app_async(steps=20)
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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"LIVE: {len(order)} items looping, pitch {PITCH} m @ {SPEED} m/s, "
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f"sweep {RATE} deg/s (tip {C.PLOW_ARM_LEN * RATE * 3.14159 / 180:.2f} m/s)")
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print(f"order: {order}")
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print(f"lanes/decks driven: {len(lanes)} | mapping {sorter.mapping}")
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print("running on the physics step - the stream stays live, nothing is blocking")
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