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>
111 lines
4.5 KiB
Python
111 lines
4.5 KiB
Python
"""Does the kinematic blade actually PUSH, or does it pass through and let PhysX untangle?
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The question the whole plow rests on and which nothing so far has answered. A kinematic body
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moved with `setKinematicTarget` sweeps: PhysX derives a velocity from the pose delta and
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transfers momentum to whatever it meets. A body moved by writing its pose is a **teleport**:
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it reappears somewhere else, and anything it now overlaps is pushed apart by depenetration
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only - a shove with no momentum behind it, roughly proportional to how deep the overlap is
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rather than to how fast the blade was going.
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The two look identical in a viewport and identical in a contact sensor. They differ in one
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measurable: the item's velocity while the blade is on it.
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push item picks up lateral speed close to the blade's tangential speed
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teleport item barely moves, gets a small separation nudge, and stops
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This puts one item against a stationary blade, sweeps the blade through it, and records the
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item's velocity every step. It also confirms the arm's simulated pose actually changes - if
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PhysX never sees the rotation, the blade is a ghost and no amount of rate tuning matters.
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"""
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import sys
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import time
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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 pxr import UsdPhysics
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from robozon_sorter import config as C
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from robozon_sorter.sim import plow_cell, plow_vision, staging
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from robozon_sorter.sim.mechanics import Cell
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from robozon_sorter.sim.plow import Plow
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ITEM = globals().get("item", "box_300x200x200")
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RATE = float(globals().get("rate", 300.0))
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BELT = bool(globals().get("belt", True)) # is the belt driving the item at the time
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stage, info = plow_vision.load(belt_speed=0.8 if BELT else 0.0, 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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items = {k: v["zone"] for k, v in info["items"].items()}
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await app_utils.update_app_async(steps=30)
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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=10)
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arm = stage.GetPrimAtPath(C.PLOW_ARM)
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print("--- what the arm IS ---")
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print(" kinematic :", UsdPhysics.RigidBodyAPI(arm).GetKinematicEnabledAttr().Get())
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print(" hinge on :", stage.GetPrimAtPath(C.PLOW_HINGE).GetAttribute(
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"physics:jointEnabled").Get())
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plow = Plow(stage, kinematic=True)
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plow.target(0.0)
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# put the item just in front of the blade, offset to the side the blade sweeps toward
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cell.place(ITEM, (-6.75, 0.10, C.BELT_Z + 0.06))
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tl = omni.timeline.get_timeline_interface()
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tl.play()
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await app_utils.update_app_async(steps=40)
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def vel():
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v = cell._rp[ITEM].get_velocities()[0].numpy()[0]
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return float(v[0]), float(v[1]), float((v[0] ** 2 + v[1] ** 2 + v[2] ** 2) ** 0.5)
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p0 = cell.pose(ITEM)
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print(f"\n--- before: item at x={float(p0[0]):+.3f} y={float(p0[1]):+.3f}, "
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f"arm measured {plow.angle:+.1f} deg ---")
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print(f"\n--- sweeping to +42 deg at {RATE} deg/s ---")
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print(f"{'step':>4} {'cmd':>7} {'arm':>7} {'item y':>8} {'vy':>7} {'|v|':>6}")
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dt = 1.0 / 120.0
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rows = []
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for i in range(220):
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done = plow.step_toward(42.0, dt, rate=RATE)
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await app_utils.update_app_async(steps=1)
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p = cell.pose(ITEM)
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vx, vy, sp = vel()
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rows.append((plow.commanded, plow.angle, float(p[1]), vy, sp))
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if i % 12 == 0 or (done and i % 4 == 0):
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print(f"{i:4d} {plow.commanded:7.1f} {plow.angle:7.1f} {float(p[1]):8.3f} "
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f"{vy:7.2f} {sp:6.2f}")
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if done and i > 60:
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break
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arm_moved = max(abs(r[1]) for r in rows)
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peak_vy = max(abs(r[3]) for r in rows)
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y_gain = max(r[2] for r in rows) - float(p0[1])
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tip_speed = C.PLOW_ARM_LEN * RATE * 3.14159 / 180.0
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print(f"\n--- verdict ---")
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print(f" arm reached {arm_moved:.1f} deg (commanded 42)")
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print(f" blade tip speed {tip_speed:.2f} m/s")
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print(f" item peak |vy| {peak_vy:.2f} m/s")
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print(f" item lateral travel {y_gain:+.3f} m")
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if arm_moved < 5:
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print(" => PhysX never saw the rotation: the blade is a ghost")
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elif peak_vy < 0.15 * tip_speed:
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print(" => TELEPORT, not a sweep: the arm arrives without momentum and the item only")
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print(" gets a depenetration nudge. Rate tuning cannot fix this.")
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else:
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print(" => real push: the item takes up a fair share of the blade's tip speed")
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tl.stop()
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