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>
76 lines
3.8 KiB
Python
76 lines
3.8 KiB
Python
"""Bake catalogue scale and a clean origin into copies of the item meshes.
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The originals are 2.0-2.8x smaller than the dims they are labelled with and sit ~0.6 m
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above their own origin. Referencing them and fixing that with xform ops nests a scale
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under a translate (which scales the translation) or a rigid body under a rigid body
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(which hands the collider to the inner one and free-falls the outer). Baking the
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transform into the points removes both traps: the result seats on z=0, is centred in
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x/y, and loads through exactly the path run_pipeline.py already proves.
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"""
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import json, pathlib, shutil, sys
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import numpy as np
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from pxr import Usd, UsdGeom, Gf
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SRC = pathlib.Path("/home/dasha/robozon-sorter/control_test/items")
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DST = pathlib.Path("/home/dasha/robozon-sorter/control_test/items_flow")
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DST.mkdir(exist_ok=True)
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labels = json.loads((SRC / "labels.json").read_text())
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shutil.copy(SRC / "labels.json", DST / "labels.json")
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for t in ("textures",):
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if (SRC / t).exists() and not (DST / t).exists():
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try: (DST / t).symlink_to(SRC / t)
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except FileExistsError: pass
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names = sys.argv[1:] or sorted(n for n in labels)
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print(f"{'товар':20s} {'исходник, мм':22s} {'масштаб':>8s} {'после, мм':22s}")
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for name in names:
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src = SRC / f"{name}.usd"
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if not src.exists():
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continue
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dst = DST / f"{name}.usd"
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shutil.copy(src, dst)
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st = Usd.Stage.Open(str(dst))
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root = st.GetDefaultPrim()
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xc = UsdGeom.XformCache(Usd.TimeCode.Default())
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meshes = [d for d in Usd.PrimRange(root) if d.IsA(UsdGeom.Mesh)]
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if not meshes:
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print(f"{name:20s} нет мешей, пропуск"); continue
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# world-space points under the item's own transforms
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allpts, per = [], []
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for m in meshes:
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P = np.asarray(UsdGeom.Mesh(m).GetPointsAttr().Get(), dtype=np.float64)
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M = np.array(xc.GetLocalToWorldTransform(m), dtype=np.float64)
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W = (np.c_[P, np.ones(len(P))] @ M)[:, :3]
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per.append((m, W)); allpts.append(W)
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A = np.concatenate(allpts, 0)
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lo, hi = A.min(0), A.max(0)
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ext = hi - lo
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s = max(labels[name]["dims_mm"]) / 1000.0 / float(max(ext))
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cx, cy = (lo[0] + hi[0]) / 2.0, (lo[1] + hi[1]) / 2.0
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BELT_CLEAR_MM = 430.0
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# Singulated pose: rest on the largest face and send the longest axis down the belt.
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# The line's belt is 450 mm between rails (measured: /World/_Rails at y +-0.22), so an
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# item presented across its long axis jams and the whole queue stops behind it.
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order = list(np.argsort(-ext)) # largest -> X, middle -> Y, least -> Z
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for m, W in per:
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Q = (W - np.array([cx, cy, lo[2]]))[:, order] * s
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UsdGeom.Mesh(m).GetPointsAttr().Set([Gf.Vec3f(float(a), float(b), float(c)) for a, b, c in Q])
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e = UsdGeom.Mesh(m).GetExtentAttr()
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if e:
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e.Set([Gf.Vec3f(*[float(v) for v in Q.min(0)]), Gf.Vec3f(*[float(v) for v in Q.max(0)])])
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UsdGeom.Xformable(m).ClearXformOpOrder() # transform is now in the points
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for d in Usd.PrimRange(root):
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if d.IsA(UsdGeom.Xformable):
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UsdGeom.Xformable(d).ClearXformOpOrder()
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if d.IsA(UsdGeom.Imageable):
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UsdGeom.Imageable(d).GetVisibilityAttr().Set(UsdGeom.Tokens.inherited)
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st.GetRootLayer().Save()
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chk = Usd.Stage.Open(str(dst))
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r = UsdGeom.BBoxCache(Usd.TimeCode.Default(),
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[UsdGeom.Tokens.default_, UsdGeom.Tokens.render]
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).ComputeWorldBound(chk.GetDefaultPrim()).ComputeAlignedRange()
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out = [(r.GetMax()[k] - r.GetMin()[k]) * 1000 for k in range(3)]
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warn = " ШИРЕ ПОЛОТНА" if out[1] > BELT_CLEAR_MM else ""
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print(f"{name:20s} {str([round(v*1000) for v in ext]):22s} {s:8.2f} "
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f"{str([round(v) for v in out]):22s} поперёк {out[1]:5.0f} мм{warn}")
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