| 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 |
|
|
| 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 |
|
|
| |
| joint_prim = XFormPrim(find_prim_path_by_name("switch_E_button_09")) |
| print("joint_prim",joint_prim.prim_path) |
|
|
| |
| root_articulation_prim = find_prim_path_by_name("switch_E_body_28") |
| print("root_articulation_prim:",root_articulation_prim) |
| |
| joint_names = ["RevoluteJoint_switch"] |
|
|
| |
| light_scopes=[ |
| XFormPrim(find_prim_path_by_name("kitchen_all_light")) |
| ] |
| print("light_scopes", light_scopes) |
|
|
|
|
| class RoomLightControl(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.local_pose_button, self.local_ort_button_down = joint_prim.get_local_pose() |
| |
| |
| |
| |
| |
| |
| |
| |
| 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) |
| |
| |
| |
| 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): |
| |
| 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) |
| |
| |
| 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() |
| |
| |
| def light_control(self): |
| try: |
| |
| self.Joint1_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos |
| current_visibility = light_scopes[0].get_visibility() |
| |
| |
| SWITCH_ON_THRESHOLD = math.radians(11) |
| SWITCH_ON_POSITION = math.radians(13) |
| SWITCH_OFF_POSITION = math.radians(0) |
| |
| |
| if self.Joint1_state < SWITCH_ON_THRESHOLD: |
| |
| if not current_visibility: |
| |
| for light in light_scopes: |
| light.set_visibility(True) |
| |
| self.dc.set_dof_position_target(self.joint_handles[0], SWITCH_OFF_POSITION) |
| else: |
| |
| if current_visibility: |
| |
| for light in light_scopes: |
| light.set_visibility(False) |
| |
| self.dc.set_dof_position_target(self.joint_handles[0], SWITCH_ON_POSITION) |
| |
| except Exception as e: |
| carb.log_error(f"Error in light control: {str(e)}") |
| |
| for light in light_scopes: |
| light.set_visibility(False) |
|
|
