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 def calculate_stiffness(joint_state): """ Args: joint_state (float): Joint angle in radians Returns: float: Stiffness value """ # Parameters configuration max_stiffness = 20 # Maximum stiffness min_stiffness = 1 # Minimum stiffness decay_rate = 2 # Decay rate threshold = math.radians(30) # Threshold angle (radians) # Use exponential decay function to calculate stiffness if joint_state >= threshold: return min_stiffness # Calculate stiffness: stiffness = max_stiffness * e^(-decay_rate * angle) stiffness = max_stiffness * math.exp(-decay_rate * joint_state) # Clamp stiffness value between min and max return max(min_stiffness, min(stiffness, max_stiffness)) # 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") # 3. joint name joint_names = ["RevoluteJoint_fridge_left","RevoluteJoint_fridge_right","PrismaticJoint_fridge_left", "PrismaticJoint_fridge_right" ] # 5. light prim light_scopes=[ XFormPrim(find_prim_path_by_name("fridge_light")) ] class MagneticFridgeControl(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.damping_stiffness_change() 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.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) self.dc.set_dof_position_target(self.joint_handles[1], 0) def damping_stiffness_change(self): stage = omni.usd.get_context().get_stage() # get joint state 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 revoluteJoint_fridge_right_drive_path = stage.GetPrimAtPath(right_revolutejoint_path) revoluteJoint_fridge_left_drive_path = stage.GetPrimAtPath(left_revolutejoint_path) revoluteJoint_fridge_left_drive = UsdPhysics.DriveAPI.Get(revoluteJoint_fridge_left_drive_path, "angular") revoluteJoint_fridge_right_drive = UsdPhysics.DriveAPI.Get(revoluteJoint_fridge_right_drive_path, "angular") right_joint_stiffness = revoluteJoint_fridge_right_drive.GetStiffnessAttr().Get() right_joint_Damping = revoluteJoint_fridge_right_drive.GetDampingAttr().Get() # print("==========") # print("right_joint_stiffness", right_joint_stiffness) # print("joint_Damping", joint_Damping) # print("self.left_joint_state", self.left_joint_state) # print("self.right_joint_state", self.right_joint_state) # print("==========") # if self.left_joint_state < math.radians(30): revoluteJoint_fridge_right_drive.GetStiffnessAttr().Set(calculate_stiffness(self.right_joint_state)) revoluteJoint_fridge_left_drive.GetStiffnessAttr().Set(calculate_stiffness(abs(self.left_joint_state))) # if self.left_joint_state < math.radians(20): # revoluteJoint_fridge_left_drive.GetStiffnessAttr().Set(200) # elif math.radians(20) <= self.left_joint_state < math.radians(140): # revoluteJoint_fridge_left_drive.GetStiffnessAttr().Set(10) def target_pose_control(self): if self.left_joint_state > abs(math.radians(30)): self.dc.set_dof_position_target(self.joint_handles[0], math.radians(-90)) else: self.dc.set_dof_position_target(self.joint_handles[0], math.radians(0)) if self.right_joint_state > abs(math.radians(30)): self.dc.set_dof_position_target(self.joint_handles[1], math.radians(90)) else: self.dc.set_dof_position_target(self.joint_handles[1], math.radians(0))