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 # # 1. prim init # button_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Xform") # door_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_door") # # 2. articulation Root prim # root_articulation_prim = "/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_base" # # 3. joint name # joint_names = ["PrismaticJoint", "RevoluteJoint"] # # 4. joint num # num_arm_dof = 2 # light_scopes=[XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on"), # XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on_1"), # ] # for i in range(0, light_scopes.__len__()): # light_scopes[i].set_visibility(False) # index = random.randint(0, len(light_scopes)-1) # light_scopes[index].set_visibility(True) 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 # 初始化门的锁定状态 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) # # 按钮被按下且门处于锁定状态 # if self.Joint0_state < -0.001 and self.door_locked: # self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-90)) # # if self.Joint1_state > math.radians(100): # # self.door_locked = False # 解除锁定 # # 门开到30度后开灯，按钮归位s # if self.Joint1_state < math.radians(-30) : # self.door_locked = False # 解除锁定 # light_scopes[0].set_visibility(True) # self.dc.set_dof_position_target(self.joint_handles[0], 0) # # 检测手动关门 # if self.Joint1_state > math.radians(-20) and not self.door_locked: # 当门接近关闭位置时 # self.dc.set_dof_position_target(self.joint_handles[1], 0) # 设置目标位置为0 # self.door_locked = True # if self.Joint1_state < math.radians(5): # 当门完全关闭时 # # 锁定门 # self.door_locked = True # light_scopes[0].set_visibility(False) # 关闭灯 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) # 按钮被按下且门处于锁定状态 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 # 解除锁定 # 门开到30度后开灯，按钮归位s if self.Joint1_state < math.radians(-30) : self.door_locked = False # 解除锁定 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) # 检测手动关门 if self.Joint1_state > math.radians(-20) and not self.door_locked: # 当门接近关闭位置时 self.dc.set_dof_position_target(self.joint_handles[1], 0) # 设置目标位置为0 self.door_locked = True if self.Joint1_state < math.radians(5): # 当门完全关闭时 # 锁定门 self.door_locked = True light_scopes[0].set_visibility(False) # 关闭灯 self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_max)