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>
92 lines
4.1 KiB
Python
92 lines
4.1 KiB
Python
"""Through-beams across each lane entry: did the item actually get onto its lane, and at
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what blade angle and sweep rate.
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The delivery number alone cannot tune the plow. An item that ends on the floor and one that
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never left the belt both score zero, but they need opposite corrections - the first was
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pushed too hard, the second not hard enough. A beam at the lane entry separates them: it
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fires the moment the item crosses onto the lane, so a run yields, per item,
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crossed yes/no - did the push reach the lane at all
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angle deg - where the blade was at the crossing
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rate deg/s - how fast it was sweeping at that instant
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speed m/s - how fast the item was going as it crossed
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which is what the sweep rate is tuned against. A rate that crosses every item but at high
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speed is throwing them; one that crosses none is too slow.
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The beams are real `raycast_closest` queries, like the gate before the pusher, placed
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**along the lane entry line** rather than across the belt - the item is travelling sideways
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here, so the beam has to lie along the direction it is leaving.
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"""
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from __future__ import annotations
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from .. import config as C
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# Beams sit just inside each lane entry, spanning the lane's width in X, so anything pushed
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# across breaks one. Y is the entry edge after scripts/move_lanes_inboard.py.
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# Beams sit ON each lane, not at its entry line, so a break means "this item is riding the
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# lane" rather than "this item touched the boundary". Each is an origin + direction + length,
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# because lane C is laid at 45 deg and cannot be described by a y value the way B can.
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#
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# lane B perpendicular, x -7.03..-6.57, y -2.38..-0.38 -> beam across it at y = -0.80
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# lane C 45 deg, near edge y = x + 7.637 -> beam across it at y = +0.90,
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# where the lane occupies roughly x -7.6..-6.7
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BEAMS = {
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# lane C: straight run, belt x[-10.00,-8.00] y[-0.45,0.00]; beam across it at x = -8.60
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"lane_C": dict(o=(-8.60, -0.50, C.BELT_Z + 0.03), d=(0.0, 1.0, 0.0), L=0.55),
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# lane B: 45 deg band from (-7.84,0.16) to (-9.25,1.57); beam across it 0.7 m in,
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# so its direction is the lane's perpendicular (0.707, 0.707), not a world axis.
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"lane_B": dict(o=(-8.53, 0.46, C.BELT_Z + 0.03), d=(0.7071, 0.7071, 0.0), L=0.55),
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}
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ITEMS_PREFIX = "/World/Items/"
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class LaneBeams:
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"""crossing detector at each lane entry"""
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def __init__(self, stage, cell, plow=None):
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self.stage = stage
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self.cell = cell
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self.plow = plow
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self.crossings: dict[str, dict] = {} # item -> first crossing record
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self._t = 0.0
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from omni.physx import get_physx_scene_query_interface
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self._q = get_physx_scene_query_interface()
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def tick(self, dt):
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self._t += dt
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def _hit(self, b):
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"""name of whatever breaks this beam, else None"""
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h = self._q.raycast_closest(list(b["o"]), list(b["d"]), b["L"])
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if not h or not h.get("hit"):
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return None
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path = str(h.get("rigidBody") or h.get("collision") or "")
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if not path.startswith(ITEMS_PREFIX):
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return None
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return path[len(ITEMS_PREFIX):].split("/")[0] or None
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def poll(self, rate=None):
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"""call each physics step; records the first crossing of each item"""
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for lane, b in BEAMS.items():
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name = self._hit(b)
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if name is None or name in self.crossings:
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continue
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try:
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v = self.cell._rp[name].get_velocities()[0].numpy()[0]
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speed = float((v[0] ** 2 + v[1] ** 2 + v[2] ** 2) ** 0.5)
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except Exception:
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speed = 0.0
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self.crossings[name] = dict(
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item=name, lane=lane, t=round(self._t, 3),
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angle=round(self.plow.angle, 1) if self.plow else None,
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commanded=round(self.plow.commanded, 1) if self.plow else None,
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rate=None if rate is None else round(rate, 1),
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speed=round(speed, 2))
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def crossed(self, name):
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return name in self.crossings
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def report(self):
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return list(self.crossings.values())
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