import carb import math import torch import numpy as np import omni.usd from omni.kit.scripting import BehaviorScript from isaacsim.core.prims import Articulation from omni.isaac.core.prims import XFormPrim from isaacsim.core.utils.types import ArticulationActions 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(current): if current.GetName() == prim_name: return current.GetPath().pathString for child in current.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 POSSIBLE_ASSET_ROOT_NAMES = ["switch_E_body_28"] JOINT_NAMES = ["RevoluteJoint_switch"] LIGHT_PRIM_NAME = "kitchen_all_light" BUTTON_PRIM_NAME = "switch_E_button_09" SWITCH_ON_THRESHOLD = math.radians(11) SWITCH_ON_POSITION = math.radians(13) SWITCH_OFF_POSITION = math.radians(0) class RoomLightControl(BehaviorScript): def on_init(self): articulation_root_path = None for root_name in POSSIBLE_ASSET_ROOT_NAMES: try: articulation_root_path = find_prim_path_by_name(root_name) print(f"Found articulation root: {articulation_root_path}") break except RuntimeError: continue if articulation_root_path is None: raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}") self.articulation_root_path = articulation_root_path self.art = None self.initialized = False self.joint_names = JOINT_NAMES self.joint_indices = None self.use_torch = None self.light_scopes = [XFormPrim(find_prim_path_by_name(LIGHT_PRIM_NAME))] self.light_scopes[0].set_visibility(False) self.joint_prim = XFormPrim(find_prim_path_by_name(BUTTON_PRIM_NAME)) print("joint_prim", self.joint_prim.prim_path) self.local_pose_button, self.local_ort_button_down = self.joint_prim.get_local_pose() def on_play(self): self._initialize_articulation() def on_stop(self): for light in self.light_scopes: light.set_visibility(False) self.joint_prim.set_local_pose(translation=self.local_pose_button) def on_update(self, current_time: float, delta_time: float): if delta_time <= 0: return if not self.initialized: self._initialize_articulation() if not self.initialized: return self.apply_behavior() def apply_behavior(self): if not self.initialized or self.art is None: return self.light_control() def _initialize_articulation(self): """Initialize the articulation object and get joint information""" if self.initialized: return try: self.art = Articulation(self.articulation_root_path) if self.art is None: return # Get joint indices self.joint_indices = [] for joint_name in self.joint_names: idx = self.art.get_dof_index(joint_name) if idx is not None: self.joint_indices.append(idx) else: print(f"Warning: Could not find joint index for {joint_name}") if not self.joint_indices: print("Warning: No valid joint indices found") return # Detect if using torch positions = self.art.get_joint_positions() self.use_torch = isinstance(positions, torch.Tensor) print(f"Detected platform: {'Isaac Lab (torch)' if self.use_torch else 'Isaac Sim (numpy/math)'}") self.initialized = True except Exception as e: print(f"Error initializing articulation: {e}") self.initialized = False def _get_scalar_value(self, value): """Convert a value (potentially a torch.Tensor) to a scalar float""" if isinstance(value, torch.Tensor): return value.item() elif isinstance(value, (list, tuple, np.ndarray)): return float(value[0] if len(value) > 0 else 0.0) else: return float(value) def light_control(self): try: positions = self.art.get_joint_positions() # Handle both single joint and multiple joints cases # If positions is a scalar (0-d), use it directly; otherwise index it if isinstance(positions, torch.Tensor): if positions.ndim == 0: # Scalar tensor joint_state = self._get_scalar_value(positions) else: # Array tensor, use index joint_state = self._get_scalar_value(positions[self.joint_indices[0]]) elif isinstance(positions, np.ndarray): if positions.ndim == 0: # Scalar array joint_state = self._get_scalar_value(positions) else: # Array, use index joint_state = self._get_scalar_value(positions[self.joint_indices[0]]) else: # List or other iterable, use index joint_state = self._get_scalar_value(positions[self.joint_indices[0]]) current_visibility = self.light_scopes[0].get_visibility() if joint_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 self.light_scopes: light.set_visibility(True) # 设置开关到打开位置 target = SWITCH_OFF_POSITION else: target = None 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 self.light_scopes: light.set_visibility(False) # 设置开关到关闭位置 target = SWITCH_ON_POSITION else: target = None if target is not None: if self.use_torch: # Get device from positions, handling both tensor and scalar cases if isinstance(positions, torch.Tensor): device = positions.device else: # Fallback: use default device device = torch.device('cuda' if torch.cuda.is_available() else 'cpu') targets_tensor = torch.tensor([target], device=device) indices_tensor = torch.tensor([self.joint_indices[0]], device=device, dtype=torch.long) action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor) else: action = ArticulationActions([target], joint_indices=[self.joint_indices[0]]) self.art.apply_action(action) 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 self.light_scopes: light.set_visibility(False)