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}")