File size: 5,526 Bytes
0248d13 f9c7324 0248d13 f9c7324 0248d13 f9c7324 0248d13 f9c7324 0248d13 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 |
import carb
from omni.kit.scripting import BehaviorScript
from omni.isaac.dynamic_control import _dynamic_control
from enum import Enum
from pxr import Gf
from threading import Thread
import marshal,json
import omni.kit.commands
from omni.isaac.core.prims import XFormPrim
import numpy as np
from pxr import Gf, Sdf, Usd, UsdGeom
from omni.isaac.core import SimulationContext, World
import math
from omni.replicator.core import utils
def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
"""Recursively find the full path by Prim name"""
stage = omni.usd.get_context().get_stage()
prim = stage.GetPrimAtPath(root_path)
def _find_prim(prim):
if prim.GetName() == prim_name:
return prim.GetPath().pathString
for child in prim.GetChildren():
result = _find_prim(child)
if result:
return result
return None
found_path = _find_prim(prim)
if not found_path:
raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
return found_path
# 1. prim init
joint_prim = XFormPrim(find_prim_path_by_name("switch_E_button_09"))
print("joint_prim",joint_prim.prim_path)
# 2. articulation Root prim
root_articulation_prim = find_prim_path_by_name("switch_E_body_28")
print("root_articulation_prim:",root_articulation_prim)
# 3. joint name
joint_names = ["RevoluteJoint_switch"]
# 5. light prim
light_scopes=[
XFormPrim(find_prim_path_by_name("kitchen_all_light"))
]
print("light_scopes", light_scopes)
class RoomLightControl(BehaviorScript):
def on_init(self):
self.phsx_freq = 120
self.joint_handles = []
self.dc = _dynamic_control.acquire_dynamic_control_interface()
light_scopes[0].set_visibility(False)
# init_pose
self.local_pose_button, self.local_ort_button_down = joint_prim.get_local_pose()
# self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
# Find Root
# self.art = self.dc.get_articulation(root_articulation_prim)
# if self.art == _dynamic_control.INVALID_HANDLE:
# print('the prim is not an articulation')
def on_destroy(self):
pass
def on_play(self):
#
self.simulation_context = SimulationContext(
stage_units_in_meters=1.0,
physics_dt=1.0/120,
rendering_dt=1.0/120
)
# 配置物理引擎参数
# print(self.simulation_context.get_physics_context().get_gravity())
# self.simulation_context.get_physics_context().set_broadphase_type("MBP")
# self.simulation_context.get_physics_context().set_solver_type("PGS")
# self.simulation_context.get_physics_context().enable_gpu_dynamics(False)
def on_pause(self):
pass
def on_stop(self):
self.init_start=True
for light in light_scopes:
light.set_visibility(False)
# light_scopes[0].set_visibility(False)
# light_scopes[1].set_visibility(False)
# back to initial pose
joint_prim.set_local_pose(translation=self.local_pose_button)
pass
def on_update(self, current_time: float, delta_time: float):
if delta_time <= 0:
return
self.active_art()
self.apply_behavior()
def active_art(self):
# Find Root
self.art = self.dc.get_articulation(root_articulation_prim)
if self.art == _dynamic_control.INVALID_HANDLE:
print('the prim is not an articulation')
self.dc.wake_up_articulation(self.art)
# Find joint
self.joint_handles = []
for joint_name in joint_names:
self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
def apply_behavior(self):
self.light_control()
def light_control(self):
try:
# 获取当前开关状态
self.Joint1_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
current_visibility = light_scopes[0].get_visibility()
# 定义开关阈值和状态
SWITCH_ON_THRESHOLD = math.radians(11)
SWITCH_ON_POSITION = math.radians(13)
SWITCH_OFF_POSITION = math.radians(0)
# 判断开关状态并控制灯光
if self.Joint1_state < SWITCH_ON_THRESHOLD:
# 开关打开状态
if not current_visibility:
# 如果灯是关闭的，则打开所有灯
for light in light_scopes:
light.set_visibility(True)
# 设置开关到打开位置
self.dc.set_dof_position_target(self.joint_handles[0], SWITCH_OFF_POSITION)
else:
# 开关关闭状态
if current_visibility:
# 如果灯是打开的，则关闭所有灯
for light in light_scopes:
light.set_visibility(False)
# 设置开关到关闭位置
self.dc.set_dof_position_target(self.joint_handles[0], SWITCH_ON_POSITION)
except Exception as e:
carb.log_error(f"Error in light control: {str(e)}")
# 发生错误时确保灯光关闭
for light in light_scopes:
light.set_visibility(False)
|