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>
69 lines
2.5 KiB
Python
69 lines
2.5 KiB
Python
"""Smoke test for scene/plow_cell.usd: load the cell, run the belts, swing the plow under
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script control and confirm the arm physically follows.
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Run it inside a live Isaac Sim through the code editor's python server, e.g.
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python isaacsim_send.py --context plow --file scripts/smoke_plow_cell.py
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It asserts the things that were silent failures during the transfer: that the referenced
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plow geometry actually composed (a stub resolves to 8 points, the real base to 72k), that
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the belts got a surface velocity, and that commanding the drive moves the arm rather than
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just setting an attribute nothing reads.
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"""
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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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import omni.timeline
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import isaacsim.core.experimental.utils.app as app_utils
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from pxr import PhysxSchema, UsdGeom
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from robozon_sorter import config as C
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from robozon_sorter.sim import plow_cell
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from robozon_sorter.sim.plow import Plow
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stage, info = plow_cell.load(script_control=True)
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print("loaded:", info)
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# --- geometry actually composed? --------------------------------------------------------
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for path, label, floor in ((C.PLOW_BASE + "/Geom/Mesh", "plow base", 1000),
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(C.PLOW_ARM + "/Geom/Mesh", "plow arm", 1000)):
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pts = UsdGeom.Mesh(stage.GetPrimAtPath(path)).GetPointsAttr().Get()
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n = len(pts) if pts else 0
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print(f" {label:10s} {n:>7} points {'OK' if n > floor else 'FAIL (stub or missing)'}")
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# --- belts driven? ----------------------------------------------------------------------
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driven = 0
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for b in plow_cell.BELTS + [plow_cell.BRANCH]:
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p = stage.GetPrimAtPath(b)
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if p.IsValid() and p.HasAPI(PhysxSchema.PhysxSurfaceVelocityAPI):
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v = PhysxSchema.PhysxSurfaceVelocityAPI(p).GetSurfaceVelocityAttr().Get()
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if v and any(abs(c) > 1e-6 for c in v):
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driven += 1
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print(f" belts driven: {driven}/{len(plow_cell.BELTS) + 1}")
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# --- plow moves? ------------------------------------------------------------------------
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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=30)
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plow = Plow(stage)
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rest = plow.angle
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print(f" rest angle {rest:+.2f} deg")
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await plow.swing(app_utils, C.PLOW_SWING)
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out = plow.angle
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print(f" swung to {out:+.2f} deg (commanded {C.PLOW_SWING:+.1f})")
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await plow.swing(app_utils, 0.0)
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back = plow.angle
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print(f" returned {back:+.2f} deg")
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tl.stop()
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moved = abs(out - rest) > 0.5 * C.PLOW_SWING
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homed = abs(back) < 5.0
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print(f"RESULT: arm moved={moved} returned_home={homed} "
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f"{'PASS' if moved and homed else 'FAIL'}")
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