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 from pxr import PhysxSchema, UsdGeom, UsdPhysics import math 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("fridge_E_body_61")) # right_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_right") # left_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_left") # 2. articulation Root prim root_articulation_prim = find_prim_path_by_name("fridge_E_body_61") stage = omni.usd.get_context().get_stage() # 3. joint name joint_names = ["RevoluteJoint_fridge_left","RevoluteJoint_fridge_right"] joint_threshold = 0.4 # 4. Joint information joints_info = {} for joint_name in joint_names: joint_prim_path = find_prim_path_by_name(joint_name) joint_prim_obj = stage.GetPrimAtPath(joint_prim_path) joint = UsdPhysics.RevoluteJoint(joint_prim_obj) joints_info[joint_name] = { 'prim': joint, 'lower_limit': joint.GetLowerLimitAttr().Get(), 'upper_limit': joint.GetUpperLimitAttr().Get() } # 5. Joint limits and limit differences joint_limits = {} joint_limit_diffs = {} for i, joint_name in enumerate(joint_names): joint_limits[joint_name] = { 'lower': joints_info[joint_name]['lower_limit'], 'upper': joints_info[joint_name]['upper_limit'] } joint_limit_diffs[joint_name] = ( joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit'] ) # joint_limit_diff1 = joint_limit_diffs[joint_names[0]] # joint_limit_diff2 = joint_limit_diffs[joint_names[1]] # 5. light prim light_scopes=[ XFormPrim(find_prim_path_by_name("fridge_light")) ] class CupboardControl(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) # light_scopes[1].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 ) 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() self.damping_stiffness_change() self.target_pose_control() def light_control(self): self.left_joint_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos self.right_joint_state = self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos # print("self.Joint1_state",self.Joint1_state) # 联合判断双门状态 doors_open = [ self.left_joint_state > math.radians(30), self.right_joint_state > math.radians(30) ] # 灯光控制逻辑 current_visibility = light_scopes[0].get_visibility() if any(doors_open): if not current_visibility: for light in light_scopes: light.set_visibility(True) else: if current_visibility: for light in light_scopes: light.set_visibility(False) # if self.right_joint_state > math.radians(30) : # if light_scopes[0].get_visibility() == False: # for light in light_scopes: # light.set_visibility(True) # # self.dc.set_dof_position_target(self.joint_handles[1], 140) # elif self.right_joint_state < math.radians(30): # if light_scopes[0].get_visibility() == True: # for light in light_scopes: # light.set_visibility(False) # self.dc.set_dof_position_target(self.joint_handles[1], 0) def damping_stiffness_change(self): for i, joint_name in enumerate(joint_names): # Get joint state joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos # Get joint drive API joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name)) joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "angular") # Get joint limit difference and set stiffness joint_limit_diff = joint_limit_diffs[joint_names[i]] joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state)) # stiffness = joint_drive.GetStiffnessAttr().Get() # damping = joint_drive.GetDampingAttr().Get() # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}") def calculate_stiffness(self,joint_state): """Calculate stiffness value based on joint angle Args: joint_state (float): Joint angle (radians) joint_limit (float): Joint limit value Returns: float: Stiffness value """ max_stiffness = 20 # 最大刚度 # max_stiffness = 50 # 最大刚度 min_stiffness = 2 # 最小刚度 decay_rate = 3 # 衰减率 # 使用指数衰减函数计算刚度 if abs(joint_state) >= abs(math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit']))): return min_stiffness # 计算刚度值：stiffness = max_stiffness * e^(-decay_rate * angle) stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state)) # 确保刚度值在最小值和最大值之间 return max(min_stiffness, min(stiffness, max_stiffness)) def target_pose_control(self): for i, joint_handle in enumerate(self.joint_handles): # Get joint state joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos # print("joint_state", joint_state) # print("joints_info[joint_names[i]]['upper_limit']", joints_info[joint_names[i]]['upper_limit']) # Get joint limit difference # Set target position based on joint state if abs(joints_info[joint_names[i]]['lower_limit']) <= math.radians(abs(joints_info[joint_names[i]]['upper_limit'])): if joint_state > math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])): self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit'])) else: self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit'])) else: if joint_state < math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])): self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit'])) else: self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit'])) # print("self.dc.get_dof_position_target=",self.dc.get_dof_position_target(joint_handle))