diff --git a/da.py b/da.py new file mode 100644 index 0000000..13eda6e --- /dev/null +++ b/da.py @@ -0,0 +1,486 @@ +import omni +from omni.isaac.core.robots import Robot +import omni.timeline +import carb +import asyncio + +def print_robot_actions_info(robot_prim_path="/World/piper_description"): + """打印机器人的所有动作和关节信息""" + print("\n========== 机器人动作和关节信息 ==========") + + # 获取机器人对象 + try: + robot = Robot(prim_path=robot_prim_path) + robot.initialize() + print(f"成功加载机器人: {robot_prim_path}") + except Exception as e: + print(f"无法加载机器人: {e}") + return + + # 1. 打印关节数量 + num_joints = robot.num_dof + print(f"\n关节数量: {num_joints}") + + # 2. 打印关节名称 + joint_names = robot.dof_names + print("\n关节名称:") + for i, name in enumerate(joint_names): + print(f" [{i}] {name}") + + # 3. 打印关节类型 + print("\n关节类型:") + for i, name in enumerate(joint_names): + # 大多数机器人关节是旋转关节 + if "prismatic" in name.lower(): + joint_type_str = "PRISMATIC" + else: + joint_type_str = "REVOLUTE" + print(f" [{i}] {name}: {joint_type_str}") + + # 4. 打印关节位置信息 + positions = robot.get_joint_positions() + print("\n当前关节位置:") + for i, pos in enumerate(positions): + print(f" [{i}] {joint_names[i]}: {pos:.4f}") + + # 5. 打印关节速度 + velocities = robot.get_joint_velocities() + print("\n当前关节速度:") + for i, vel in enumerate(velocities): + print(f" [{i}] {joint_names[i]}: {vel:.4f}") + + # 6. 打印关节力矩 + efforts = robot.get_applied_joint_efforts() + print("\n当前关节力矩:") + for i, eff in enumerate(efforts): + print(f" [{i}] {joint_names[i]}: {eff:.4f}") + + # 使用Isaac Sim 4.2的API获取关节限制 + print("\n关节限制 (使用Isaac Sim 4.2 API):") + try: + from omni.isaac.core.articulations import Articulation + from pxr import UsdPhysics + + # 创建一个Articulation对象 + articulation = Articulation(prim_path=robot_prim_path) + articulation.initialize() + + # 通过USD接口获取关节限制 + from pxr import Usd, UsdPhysics + stage = omni.usd.get_context().get_stage() + + for i, joint_name in enumerate(joint_names): + # 尝试从名称推断关节路径 + # 注意：这里假设关节路径格式为 robotPath/jointName + joint_path = f"{robot_prim_path}/{joint_name}" + joint_prim = stage.GetPrimAtPath(joint_path) + + if not joint_prim: + # 尝试其他可能的路径格式 + possible_paths = [ + f"{robot_prim_path}/joints/{joint_name}", + f"{robot_prim_path}/{joint_name}_joint" + ] + + for path in possible_paths: + joint_prim = stage.GetPrimAtPath(path) + if joint_prim: + joint_path = path + break + + if joint_prim: + joint_api = UsdPhysics.RevoluteJoint(joint_prim) + if joint_api: + lower_attr = joint_api.GetLowerAttr() + upper_attr = joint_api.GetUpperAttr() + + if lower_attr and upper_attr: + lower = lower_attr.Get() if lower_attr.HasValue() else float('-inf') + upper = upper_attr.Get() if upper_attr.HasValue() else float('inf') + print(f" [{i}] {joint_name}: 下限={lower:.4f}, 上限={upper:.4f}") + continue + + # 如果无法找到关节或获取限制，使用默认值 + print(f" [{i}] {joint_name}: 下限=-π, 上限=π (默认值)") + + except Exception as e: + print(f" 无法通过USD接口获取关节限制: {e}") + print(" 使用默认值: 下限=-π, 上限=π") + + # 8. 驱动类型和控制器参数 + print("\n驱动类型和控制器参数 (使用Action Graph节点获取):") + print(" 请使用下面的方法获取Action Graph中的控制器信息") + + print("\n========================================") + + +# 使用兼容的方式获取Action Graph信息 +def print_action_graph_info_compatible(): + """使用兼容Isaac Sim 4.2的方式打印Action Graph信息""" + print("\n========== Action Graph节点信息 (兼容方式) ==========") + + try: + # 在Isaac Sim 4.2中，我们需要使用不同的API获取Action Graph + import omni.kit + from omni.kit.viewport.utility import get_viewport_from_window_name + viewport = get_viewport_from_window_name("Viewport") + + # 打印Action Graph信息 - 方法1：使用USD查询 + import omni.usd + from pxr import Usd, Sdf + + # 获取当前舞台 + stage = omni.usd.get_context().get_stage() + + # 查找所有ActionGraph节点 + print("\nAction Graph节点查找方法1 - USD路径查询:") + action_graph_paths = [] + + # 查找可能的Action Graph节点路径 + possible_paths = ["/World/ActionGraph", "/ActionGraph"] + for path in possible_paths: + prim = stage.GetPrimAtPath(path) + if prim: + action_graph_paths.append(path) + print(f" 找到Action Graph路径: {path}") + + # 打印子节点 + children = prim.GetChildren() + if children: + print(" 子节点:") + for child in children: + print(f" - {child.GetPath()}") + + # 尝试获取更多信息 + attrs = child.GetAttributes() + if attrs: + print(f" 属性数量: {len(attrs)}") + # 打印前10个属性 + for i, attr in enumerate(attrs): + if i >= 10: + break + print(f" {attr.GetName()}: {attr.Get() if attr.IsValid() else 'N/A'}") + + if not action_graph_paths: + print(" 无法在常见路径找到Action Graph节点") + + # 尝试搜索整个场景 + print("\n 尝试搜索整个场景中的ActionGraph相关节点:") + + def traverse_stage(prim): + paths = [] + if "ActionGraph" in prim.GetName() or "articulation_controller" in prim.GetName().lower(): + paths.append(prim.GetPath()) + + for child in prim.GetChildren(): + paths.extend(traverse_stage(child)) + return paths + + root = stage.GetPseudoRoot() + all_action_paths = traverse_stage(root) + + if all_action_paths: + print(f" 找到 {len(all_action_paths)} 个可能的Action Graph相关节点:") + for path in all_action_paths: + print(f" - {path}") + else: + print(" 未找到任何ActionGraph相关节点") + + # 尝试查找ArticulationController节点 + print("\n尝试找到ArticulationController节点:") + controller_found = False + + for prim in Usd.PrimRange(stage.GetPseudoRoot()): + prim_type = prim.GetTypeName() + prim_name = prim.GetName() + + if "ArticulationController" in str(prim_type) or "ArticulationController" in prim_name: + print(f" 找到控制器: {prim.GetPath()}") + controller_found = True + + # 打印属性 + attrs = prim.GetAttributes() + if attrs: + print(" 控制器属性:") + for attr in attrs: + if attr.IsValid(): + print(f" - {attr.GetName()}: {attr.Get() if attr.HasValue() else 'N/A'}") + + if not controller_found: + print(" 未找到ArticulationController节点") + + except Exception as e: + print(f"获取Action Graph信息时出错: {e}") + + print("\n========================================") + + +# 使用视觉脚本检查Action Graph +def print_action_graph_visual_info(): + """通过NVIDIA Omniverse视觉脚本API获取Action Graph信息""" + print("\n========== Action Graph信息 (视觉脚本API) ==========") + + try: + # 尝试使用视觉脚本API + try: + import omni.kit.visual_scripting as vs + print("成功导入视觉脚本API") + + # 尝试获取视觉脚本图表 + graphs = vs.get_all_graphs() + if graphs: + print(f"找到 {len(graphs)} 个视觉脚本图表") + for i, graph in enumerate(graphs): + print(f"\n图表 {i+1}:") + print(f" 路径: {graph.get_path()}") + + # 获取节点 + nodes = graph.get_nodes() + print(f" 节点数量: {len(nodes)}") + for node in nodes: + print(f" - {node.get_title()} ({node.get_type_name()})") + + # 获取节点参数 + params = node.get_parameters() + if params: + print(" 参数:") + for param_name, param_value in params.items(): + print(f" {param_name}: {param_value}") + else: + print("没有找到视觉脚本图表") + + except ImportError: + print("视觉脚本API不可用") + + # 尝试使用新版的图表API + try: + import omni.graph.core as og + print("\n尝试使用omni.graph.core API") + + # 在Isaac Sim 4.2中，API可能发生了变化 + # 尝试使用可能的替代方法 + if hasattr(og, "get_graph_keys"): + keys = og.get_graph_keys() + print(f"找到 {len(keys)} 个图表键") + + for key in keys: + print(f" 图表键: {key}") + graph = og.get_graph(key) + if graph: + print(" 成功获取图表") + # 处理图表... + else: + print(" get_graph_keys 方法不可用") + + # 尝试其他可能的方法 + if hasattr(og, "get_registered_graphs"): + graphs = og.get_registered_graphs() + print(f"找到 {len(graphs)} 个注册的图表") + # 处理图表... + else: + print(" get_registered_graphs 方法不可用") + + except Exception as e: + print(f"使用omni.graph.core时出错: {e}") + + except Exception as e: + print(f"获取视觉脚本信息时出错: {e}") + + print("\n========================================") + + +# 使用USD直接查询机器人关节 +def print_robot_joints_via_usd(robot_prim_path="/World/piper_description"): + """使用USD API直接查询机器人关节信息""" + print("\n========== USD API查询机器人关节信息 ==========") + + try: + from pxr import Usd, UsdPhysics, UsdGeom, Gf + + # 获取当前舞台 + stage = omni.usd.get_context().get_stage() + + # 获取机器人根节点 + robot_prim = stage.GetPrimAtPath(robot_prim_path) + if not robot_prim: + print(f"找不到机器人: {robot_prim_path}") + return + + print(f"找到机器人: {robot_prim_path}") + + # 查找关节 + joints = [] + + # 方法1: 直接查找关节类型 + for prim in Usd.PrimRange(robot_prim): + if prim.IsA(UsdPhysics.Joint) or prim.IsA(UsdPhysics.RevoluteJoint) or prim.IsA(UsdPhysics.PrismaticJoint): + joints.append(prim) + + print(f"\n找到 {len(joints)} 个关节") + + if joints: + for i, joint in enumerate(joints): + joint_path = joint.GetPath() + joint_name = joint.GetName() + + print(f"\n关节 {i+1}:") + print(f" 路径: {joint_path}") + print(f" 名称: {joint_name}") + + # 获取关节类型 + joint_type = "未知" + if joint.IsA(UsdPhysics.RevoluteJoint): + joint_type = "旋转关节" + elif joint.IsA(UsdPhysics.PrismaticJoint): + joint_type = "平移关节" + elif joint.IsA(UsdPhysics.Joint): + joint_type = "通用关节" + + print(f" 类型: {joint_type}") + + # 获取关节限制 + if joint.IsA(UsdPhysics.RevoluteJoint): + joint_api = UsdPhysics.RevoluteJoint(joint) + lower = joint_api.GetLowerAttr().Get() if joint_api.GetLowerAttr().HasValue() else float('-inf') + upper = joint_api.GetUpperAttr().Get() if joint_api.GetUpperAttr().HasValue() else float('inf') + print(f" 限制范围: [{lower:.4f}, {upper:.4f}]") + + # 获取关节属性 + attrs = joint.GetAttributes() + if attrs: + print(" 属性:") + for attr in attrs: + if attr.HasValue() and attr.IsValid(): + print(f" - {attr.GetName()}: {attr.Get()}") + + else: + print("未找到任何关节，尝试查找所有可能的关节...") + + # 方法2: 查找包含'joint'的节点 + possible_joints = [] + + for prim in Usd.PrimRange(robot_prim): + if "joint" in prim.GetName().lower(): + possible_joints.append(prim) + + print(f"\n找到 {len(possible_joints)} 个可能的关节") + + for i, joint in enumerate(possible_joints[:5]): # 只显示前5个 + print(f" {i+1}. {joint.GetPath()}") + + if len(possible_joints) > 5: + print(f" ...以及 {len(possible_joints) - 5} 个其他关节") + + except Exception as e: + print(f"使用USD API查询关节信息时出错: {e}") + + print("\n========================================") + + +# 综合打印物理模拟状态 +def print_physics_status(): + """打印物理模拟状态""" + print("\n========== 物理模拟状态检查 ==========") + + # 检查物理模拟状态 + timeline = omni.timeline.get_timeline_interface() + is_playing = timeline.is_playing() + print(f"物理模拟状态: {'运行中' if is_playing else '已停止'}") + + # 获取PhysX版本信息 + try: + import omni.physx + print("成功导入omni.physx") + + # 尝试获取PhysX接口 + physx_interface = omni.physx.get_physx_interface() + if physx_interface: + print("成功获取PhysX接口") + + # 尝试获取PhysX属性 + try: + physx_props = {} + + # 测试可能的方法 + if hasattr(physx_interface, "get_scene_count"): + physx_props["场景数量"] = physx_interface.get_scene_count() + + if hasattr(physx_interface, "is_simulating"): + physx_props["正在模拟"] = physx_interface.is_simulating() + + if hasattr(physx_interface, "get_active_stage_id"): + physx_props["活动场景ID"] = physx_interface.get_active_stage_id() + + if hasattr(physx_interface, "get_gravitational_acceleration"): + physx_props["重力加速度"] = physx_interface.get_gravitational_acceleration() + + if physx_props: + print("\nPhysX属性:") + for prop, value in physx_props.items(): + print(f" {prop}: {value}") + else: + print("未找到可查询的PhysX属性") + except Exception as e: + print(f"获取PhysX属性时出错: {e}") + + except Exception as e: + print(f"获取PhysX接口时出错: {e}") + + print("\n通过USD API查询物理属性:") + try: + from pxr import Usd, UsdPhysics + + # 获取当前舞台 + stage = omni.usd.get_context().get_stage() + + # 查找物理场景 + scene = UsdPhysics.Scene.Get(stage) + if scene: + scene_prim = scene.GetPrim() + print(f"找到物理场景: {scene_prim.GetPath()}") + + # 获取重力 + gravity_attr = scene.GetGravityDirectionAttr() + gravity_mag_attr = scene.GetGravityMagnitudeAttr() + + if gravity_attr and gravity_attr.HasValue(): + gravity_dir = gravity_attr.Get() + print(f" 重力方向: {gravity_dir}") + + if gravity_mag_attr and gravity_mag_attr.HasValue(): + gravity_mag = gravity_mag_attr.Get() + print(f" 重力大小: {gravity_mag}") + else: + print("未找到物理场景") + + except Exception as e: + print(f"查询USD物理属性时出错: {e}") + + print("========================================") + + +# 执行所有函数 +try: + # 确保物理模拟已启动 + timeline = omni.timeline.get_timeline_interface() + if not timeline.is_playing(): + timeline.play() + print("已启动物理模拟") + + # 打印机器人信息 + print_robot_actions_info("/World/piper_description") + + # 使用兼容方式打印Action Graph信息 + print_action_graph_info_compatible() + + # 使用视觉脚本API获取信息 + print_action_graph_visual_info() + + # 使用USD API查询关节信息 + print_robot_joints_via_usd("/World/piper_description") + + # 打印物理模拟状态 + print_physics_status() + +except Exception as e: + print(f"执行过程中出现错误: {e}") \ No newline at end of file