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>
98 lines
4.7 KiB
Python
98 lines
4.7 KiB
Python
"""1) Does Belt_01 actually CARRY an item, and does it carry it to BinD?
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2) How long does the pusher take to stroke out and return home?"""
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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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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; importlib.invalidate_caches()
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import omni.usd, omni.timeline
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from pxr import Gf, Usd, UsdGeom, UsdPhysics, PhysxSchema, UsdShade
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import isaacsim.core.experimental.utils.app as app_utils
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from isaacsim.core.experimental.prims import RigidPrim
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from robozon_sorter import config as C
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from robozon_sorter.sim import scene as _scene, plow_cell_9045
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stage = omni.usd.get_context().get_stage()
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tl = omni.timeline.get_timeline_interface()
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if tl.is_playing():
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tl.stop(); await app_utils.update_app_async(steps=10)
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await plow_cell_9045.prepare(stage, belt_speed=1.0, script_control=True)
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bbc = UsdGeom.BBoxCache(Usd.TimeCode.Default(), [UsdGeom.Tokens.default_, UsdGeom.Tokens.render])
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b01 = stage.GetPrimAtPath(_scene.BRANCH)
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r = bbc.ComputeWorldBound(b01).ComputeAlignedRange()
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print(f"Belt_01 bbox x[{r.GetMin()[0]:+.3f}..{r.GetMax()[0]:+.3f}] "
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f"y[{r.GetMin()[1]:+.3f}..{r.GetMax()[1]:+.3f}] top_z={r.GetMax()[2]:+.3f}")
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sv = b01.GetAttribute("physxSurfaceVelocity:surfaceVelocity").Get()
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en = b01.GetAttribute("physxSurfaceVelocity:surfaceVelocityEnabled")
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xc = UsdGeom.XformCache()
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wv = xc.GetLocalToWorldTransform(b01).TransformDir(Gf.Vec3d(*sv))
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print(f" local surfaceVelocity={sv} enabled={en.Get() if en else None}")
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print(f" WORLD drive = ({wv[0]:+.3f},{wv[1]:+.3f},{wv[2]:+.3f}) |v|={wv.GetLength():.3f}")
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api = UsdShade.MaterialBindingAPI(b01)
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mat, _ = api.ComputeBoundMaterial(materialPurpose="physics")
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if mat:
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m = UsdPhysics.MaterialAPI(mat.GetPrim())
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print(f" friction static/dynamic = {m.GetStaticFrictionAttr().Get()}/{m.GetDynamicFrictionAttr().Get()}")
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bd = bbc.ComputeWorldBound(stage.GetPrimAtPath("/World/SortingRig/BinD_Floor")).ComputeAlignedRange()
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print(f"BinD floor x[{bd.GetMin()[0]:+.2f}..{bd.GetMax()[0]:+.2f}] y[{bd.GetMin()[1]:+.2f}..{bd.GetMax()[1]:+.2f}] "
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f"centre=({(bd.GetMin()[0]+bd.GetMax()[0])/2:+.2f},{(bd.GetMin()[1]+bd.GetMax()[1])/2:+.2f})")
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ipath = "/World/Items/_branchprobe"
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def spawn(x, y):
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if stage.GetPrimAtPath(ipath).IsValid():
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stage.RemovePrim(ipath)
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prim = UsdGeom.Xform.Define(stage, ipath).GetPrim()
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prim.GetReferences().AddReference(str(C.ROOT / "assets" / "items" / "bag.usd"))
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xf = UsdGeom.Xformable(prim); xf.ClearXformOpOrder()
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xf.AddTranslateOp(precision=UsdGeom.XformOp.PrecisionDouble).Set(Gf.Vec3d(x, y, C.BELT_Z + 0.06))
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UsdPhysics.RigidBodyAPI.Apply(prim)
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UsdPhysics.RigidBodyAPI(prim).CreateKinematicEnabledAttr().Set(False)
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UsdPhysics.MassAPI.Apply(prim).CreateMassAttr().Set(0.6)
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px = PhysxSchema.PhysxRigidBodyAPI.Apply(prim)
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px.CreateEnableCCDAttr().Set(True)
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px.CreateSolverPositionIterationCountAttr().Set(24)
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UsdGeom.Imageable(prim).MakeVisible()
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return RigidPrim(paths=[ipath])
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print("\n--- placing an item DIRECTLY on Belt_01 at (-4.10, +0.70): does it reach BinD? ---")
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rp = spawn(-4.10, 0.70)
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tl.play(); await app_utils.update_app_async(steps=10)
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p0 = rp.get_world_poses()[0].numpy()[0].copy()
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for i in range(9):
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await app_utils.update_app_async(steps=40)
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p = rp.get_world_poses()[0].numpy()[0]
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print(f" t~{(i+1)*40/60:4.1f}s x={float(p[0]):+.2f} y={float(p[1]):+.2f} z={float(p[2]):+.2f}")
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pf = rp.get_world_poses()[0].numpy()[0]
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in_bin = (-6.21 < float(pf[0]) < -4.95) and (1.57 < float(pf[1]) < 2.86)
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print(f" travelled ({float(pf[0])-float(p0[0]):+.2f},{float(pf[1])-float(p0[1]):+.2f}) IN BIN_D: {in_bin}")
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tl.stop(); await app_utils.update_app_async(steps=6)
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print("\n--- pusher stroke-out / return timing ---")
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blade_prim = stage.GetPrimAtPath(_scene.BLADE)
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for op in UsdGeom.Xformable(blade_prim).GetOrderedXformOps():
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if op.GetOpType() == UsdGeom.XformOp.TypeTranslate:
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bop = op; break
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bbase = bop.Get()
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def blade_to(y):
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bop.Set(Gf.Vec3d(bbase[0], y - _scene.BLADE_PARENT_Y, bbase[2]))
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blade_to(C.BLADE_HOME_Y)
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tl.play(); await app_utils.update_app_async(steps=5)
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for label, a, b, spd in (("out ", C.BLADE_HOME_Y, 0.55, 1.3), ("back", 0.55, C.BLADE_HOME_Y, 1.3),
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("back", 0.55, C.BLADE_HOME_Y, 2.5)):
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blade_to(a); await app_utils.update_app_async(steps=3)
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dur = abs(b - a) / spd
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t0 = float(tl.get_current_time())
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while True:
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u = min(1.0, (float(tl.get_current_time()) - t0) / dur)
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blade_to(a + (b - a) * u)
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await app_utils.update_app_async(steps=1)
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if u >= 1.0:
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break
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print(f" {label} @ {spd} m/s : {float(tl.get_current_time())-t0:.3f} s "
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f"(stroke {abs(b-a):.2f} m)")
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tl.stop()
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