File size: 5,691 Bytes
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 | 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 PhysxSchema, UsdGeom, UsdPhysics
import math
from omni.isaac.core import SimulationContext, World
# from isaacsim.core.prims import XFormPrim
# stiffness :0.8 Damping: 0.05
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
button_prim = XFormPrim(find_prim_path_by_name("oven_E_button_5"))
print("button_prim", button_prim.prim_path)
# door_prim = XFormPrim(find_prim_path_by_name("oven_E_door_4"))
# print("door_prim", door_prim.prim_path)
root_articulation_prim = find_prim_path_by_name("oven_E_body_7")
print("root_articulation_prim", root_articulation_prim)
joint_names = ["PrismaticJoint_oven_down", "RevoluteJoint_oven_up"]
light_scopes=[XFormPrim(find_prim_path_by_name("oven_light"))
]
revolutejoint_path = find_prim_path_by_name("RevoluteJoint_oven_up")
class MicrowaveOverControl(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)
self.Stiffness_max = 0.8
self.Stiffness_min = 0.08
self.door_locked = True
# init_pose
self.local_pose_button, self.local_ort_drawer_down = button_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')
stage = omni.usd.get_context().get_stage()
self.revoluteJoint_drive_path = stage.GetPrimAtPath(revolutejoint_path)
self.revoluteJoint_drive = UsdPhysics.DriveAPI.Get(self.revoluteJoint_drive_path, "angular")
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
)
def on_pause(self):
pass
def on_stop(self):
self.init_start=True
light_scopes[0].set_visibility(False)
# back to initial pose
# button_prim.set_local_pose(translation=self.local_pose_button)
# door_prim.set_local_pose(translation=self.local_pose_door)
self.door_locked = True
carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}")
pass
def on_update(self, current_time: float, delta_time: float):
if delta_time <= 0:
return
self.dc = _dynamic_control.acquire_dynamic_control_interface()
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))
# print("self.joint_handles",self.joint_handles)
def apply_behavior(self):
self.oven_control()
def oven_control(self):
self.Joint0_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
self.Joint1_state = self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
# print("self.Joint0_state", self.Joint0_state)
# print("self.Joint1_state", self.Joint1_state)
if self.Joint0_state < -0.001 and self.door_locked:
self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-50))
# if self.Joint1_state > math.radians(100):
# self.door_locked = False
if self.Joint1_state < math.radians(-30) :
self.door_locked = False
light_scopes[0].set_visibility(True)
self.dc.set_dof_position_target(self.joint_handles[0], 0)
if abs(self.Joint1_state - math.radians(-50)) < math.radians(0.5) :
self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-78))
self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_min)
if self.Joint1_state > math.radians(-20) and not self.door_locked:
self.dc.set_dof_position_target(self.joint_handles[1], 0)
self.door_locked = True
if self.Joint1_state < math.radians(5):
self.door_locked = True
light_scopes[0].set_visibility(False)
self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_max) |