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 from pxr import UsdPhysics 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 = ["oven_E_body_7"] JOINT_NAMES = ["PrismaticJoint_oven_down", "RevoluteJoint_oven_up"] LIGHT_PRIM_NAME = "oven_light" BUTTON_PRIM_NAME = "oven_E_button_5" REVOLUTE_JOINT_NAME = "RevoluteJoint_oven_up" STIFFNESS_MAX = 0.8 STIFFNESS_MIN = 0.08 BUTTON_PRESS_THRESHOLD = -0.001 DOOR_OPEN_ANGLE_1 = math.radians(-50) DOOR_OPEN_ANGLE_2 = math.radians(-78) DOOR_OPEN_THRESHOLD = math.radians(-30) DOOR_CLOSE_THRESHOLD = math.radians(-20) DOOR_CLOSED_THRESHOLD = math.radians(5) DOOR_ANGLE_TOLERANCE = math.radians(0.5) class MicrowaveOverControl(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.Stiffness_max = STIFFNESS_MAX self.Stiffness_min = STIFFNESS_MIN self.door_locked = True self.button_prim = XFormPrim(find_prim_path_by_name(BUTTON_PRIM_NAME)) print("button_prim", self.button_prim.prim_path) self.local_pose_button, self.local_ort_drawer_down = self.button_prim.get_local_pose() stage = omni.usd.get_context().get_stage() revolutejoint_path = find_prim_path_by_name(REVOLUTE_JOINT_NAME) self.revoluteJoint_drive_path = stage.GetPrimAtPath(revolutejoint_path) self.revoluteJoint_drive = UsdPhysics.DriveAPI.Get(self.revoluteJoint_drive_path, "angular") def on_play(self): self._initialize_articulation() def on_stop(self): self.light_scopes[0].set_visibility(False) self.door_locked = True if self.revoluteJoint_drive: self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_max) carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}") 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.oven_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 or len(self.joint_indices) < 2: 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 oven_control(self): positions = self.art.get_joint_positions().squeeze() button_state = self._get_scalar_value(positions[self.joint_indices[0]]) door_state = self._get_scalar_value(positions[self.joint_indices[1]]) targets = [] indices = [] # 按钮被按下且门处于锁定状态 if button_state < BUTTON_PRESS_THRESHOLD and self.door_locked: targets.append(DOOR_OPEN_ANGLE_1) indices.append(self.joint_indices[1]) # 门开到30度后开灯，按钮归位 if door_state < DOOR_OPEN_THRESHOLD: self.door_locked = False self.light_scopes[0].set_visibility(True) targets.append(0.0) indices.append(self.joint_indices[0]) else: # Keep button target targets.append(button_state) indices.append(self.joint_indices[0]) # 门到达第一个目标角度后，继续开到第二个角度 if abs(door_state - DOOR_OPEN_ANGLE_1) < DOOR_ANGLE_TOLERANCE: targets.append(DOOR_OPEN_ANGLE_2) indices.append(self.joint_indices[1]) if self.revoluteJoint_drive: self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_min) # 检测手动关门 if door_state > DOOR_CLOSE_THRESHOLD and not self.door_locked: targets.append(0.0) indices.append(self.joint_indices[1]) self.door_locked = True if door_state < DOOR_CLOSED_THRESHOLD: # 锁定门 self.door_locked = True self.light_scopes[0].set_visibility(False) if self.revoluteJoint_drive: self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_max) if targets: if self.use_torch: device = positions.device targets_tensor = torch.tensor(targets, device=device) indices_tensor = torch.tensor(indices, device=device, dtype=torch.long) action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor) else: action = ArticulationActions(targets, joint_indices=indices) self.art.apply_action(action)