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>
106 lines
4.6 KiB
Python
106 lines
4.6 KiB
Python
"""1) find the working RigidPrim velocity-set signature
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2) does Belt_01 (now aimed diagonally) actually carry an item into BinD?
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3) does a per-step 'carry assist' (matching the item's +Y velocity to the blade's)
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get a pushed item across, where the bare blade tops out at ~0.21 m?"""
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import sys, inspect
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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 numpy as np
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import omni.usd, omni.timeline
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from pxr import Gf, Usd, UsdGeom, UsdPhysics, PhysxSchema
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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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print("set_velocities signature:", inspect.signature(RigidPrim.set_velocities))
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print("get_velocities signature:", inspect.signature(RigidPrim.get_velocities))
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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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info = await plow_cell_9045.prepare(stage, belt_speed=1.0, script_control=True)
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print("blade width:", info["pusher_dims"][0], "m")
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ipath = "/World/Items/_imp"
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def spawn(x, y, mesh="bag"):
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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" / f"{mesh}.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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# ---------- 2) Belt_01 -> BinD ----------
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print("\n--- item placed 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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for i in range(8):
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await app_utils.update_app_async(steps=45)
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p = rp.get_world_poses()[0].numpy()[0]
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print(f" t~{(i+1)*45/60:4.1f}s x={float(p[0]):+.2f} y={float(p[1]):+.2f} z={float(p[2]):+.2f}")
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p = rp.get_world_poses()[0].numpy()[0]
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print(" IN BIN_D:", (-6.21 < float(p[0]) < -4.95) and (1.57 < float(p[1]) < 2.86))
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tl.stop(); await app_utils.update_app_async(steps=6)
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# ---------- 1)+3) velocity API and carry assist ----------
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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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SENSE_X = C.PUSH_X + plow_cell_9045.PUSHER_X_MM / 2000.0
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for mode in ("bare blade", "blade + carry assist"):
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blade_to(C.BLADE_HOME_Y)
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rp = spawn(-3.05, 0.0)
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tl.play(); await app_utils.update_app_async(steps=8)
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for _ in range(400):
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if float(rp.get_world_poses()[0].numpy()[0][0]) <= SENSE_X:
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break
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await app_utils.update_app_async(steps=1)
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p0 = rp.get_world_poses()[0].numpy()[0].copy()
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a, b, spd = C.BLADE_HOME_Y, 0.52, 1.3
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dur = abs(b - a) / spd
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t0 = float(tl.get_current_time()); err = None
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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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if mode.endswith("assist") and u < 1.0:
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try:
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lin = rp.get_velocities()[0].numpy()[0]
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rp.set_velocities(np.array([[float(lin[0]), spd, float(lin[2])]]),
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np.array([[0.0, 0.0, 0.0]]))
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except BaseException as exc:
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err = f"{type(exc).__name__}: {exc}"
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break
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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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if err:
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print(f"\n {mode}: set_velocities FAILED -> {err}")
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else:
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for _ in range(90):
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await app_utils.update_app_async(steps=1)
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p = rp.get_world_poses()[0].numpy()[0]
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onbranch = float(p[1]) > 0.45
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print(f"\n {mode}: dy={float(p[1])-float(p0[1]):+.3f} final=({float(p[0]):+.2f},"
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f"{float(p[1]):+.2f},{float(p[2]):+.2f}) reached_branch={onbranch}")
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tl.stop(); await app_utils.update_app_async(steps=6)
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