light_object

LightObject

Bases: StatefulObject

LightObjects are objects that generate light in the simulation

Source code in omnigibson/objects/light_object.py

class LightObject(StatefulObject):
    """
    LightObjects are objects that generate light in the simulation
    """
    LIGHT_TYPES = {
        "Cylinder",
        "Disk",
        "Distant",
        "Dome",
        "Geometry",
        "Rect",
        "Sphere",
    }

    def __init__(
        self,
        name,
        light_type,
        prim_path=None,
        category="light",
        class_id=None,
        uuid=None,
        scale=None,
        fixed_base=False,
        load_config=None,
        abilities=None,
        include_default_states=True,
        radius=1.0,
        intensity=50000.0,
        **kwargs,
    ):

        """
        Args:
            name (str): Name for the object. Names need to be unique per scene
            light_type (str): Type of light to create. Valid options are LIGHT_TYPES
            prim_path (None or str): global path in the stage to this object. If not specified, will automatically be
                created at /World/<name>
            category (str): Category for the object. Defaults to "object".
            class_id (None or int): What class ID the object should be assigned in semantic segmentation rendering mode.
                If None, the ID will be inferred from this object's category.
            uuid (None or int): Unique unsigned-integer identifier to assign to this object (max 8-numbers).
                If None is specified, then it will be auto-generated
            scale (None or float or 3-array): if specified, sets either the uniform (float) or x,y,z (3-array) scale
                for this object. A single number corresponds to uniform scaling along the x,y,z axes, whereas a
                3-array specifies per-axis scaling.
            fixed_base (bool): whether to fix the base of this object or not
            load_config (None or dict): If specified, should contain keyword-mapped values that are relevant for
                loading this prim at runtime.
            abilities (None or dict): If specified, manually adds specific object states to this object. It should be
                a dict in the form of {ability: {param: value}} containing object abilities and parameters to pass to
                the object state instance constructor.
            include_default_states (bool): whether to include the default object states from @get_default_states
            radius (float): Radius for this light.
            intensity (float): Intensity for this light.
            kwargs (dict): Additional keyword arguments that are used for other super() calls from subclasses, allowing
                for flexible compositions of various object subclasses (e.g.: Robot is USDObject + ControllableObject).
        """
        # Compose load config and add rgba values
        load_config = dict() if load_config is None else load_config
        load_config["scale"] = scale
        load_config["intensity"] = intensity
        load_config["radius"] = radius if light_type in {"Cylinder", "Disk", "Sphere"} else None

        # Make sure primitive type is valid
        assert_valid_key(key=light_type, valid_keys=self.LIGHT_TYPES, name="light_type")
        self.light_type = light_type

        # Other attributes to be filled in at runtime
        self._light_link = None

        # Run super method
        super().__init__(
            prim_path=prim_path,
            name=name,
            category=category,
            class_id=class_id,
            uuid=uuid,
            scale=scale,
            visible=True,
            fixed_base=fixed_base,
            visual_only=True,
            self_collisions=False,
            prim_type=PrimType.RIGID,
            include_default_states=include_default_states,
            load_config=load_config,
            abilities=abilities,
            **kwargs,
        )

    def _load(self):
        # Define XForm and base link for this light
        prim = og.sim.stage.DefinePrim(self._prim_path, "Xform")
        base_link = og.sim.stage.DefinePrim(f"{self._prim_path}/base_link", "Xform")

        # Define the actual light link
        light_prim = UsdLux.__dict__[f"{self.light_type}Light"].Define(og.sim.stage, f"{self._prim_path}/base_link/light").GetPrim()

        return prim

    def _post_load(self):
        # run super first
        super()._post_load()

        # Grab reference to light link
        self._light_link = XFormPrim(prim_path=f"{self._prim_path}/base_link/light", name=f"{self.name}:light_link")

        # Apply Shaping API and set default cone angle attribute
        shaping_api = UsdLux.ShapingAPI.Apply(self._light_link.prim).GetShapingConeAngleAttr().Set(180.0)

        # Optionally set the intensity
        if self._load_config.get("intensity", None) is not None:
            self.intensity = self._load_config["intensity"]

        # Optionally set the radius
        if self._load_config.get("radius", None) is not None:
            self.radius = self._load_config["radius"]

    def _initialize(self):
        # Run super
        super()._initialize()

        # Initialize light link
        self._light_link.initialize()

    @property
    def aabb(self):
        # This is a virtual object (with no associated visual mesh), so omni returns an invalid AABB.
        # Therefore we instead return a hardcoded small value
        return np.ones(3) * -0.001, np.ones(3) * 0.001


    @property
    def light_link(self):
        """
        Returns:
            XFormPrim: Link corresponding to the light prim itself
        """
        return self._light_link

    @property
    def radius(self):
        """
        Gets this light's radius

        Returns:
            float: radius for this light
        """
        return self._light_link.get_attribute("radius")

    @radius.setter
    def radius(self, radius):
        """
        Sets this light's radius

        Args:
            radius (float): radius to set
        """
        self._light_link.set_attribute("radius", radius)

    @property
    def intensity(self):
        """
        Gets this light's intensity

        Returns:
            float: intensity for this light
        """
        return self._light_link.get_attribute(
            "inputs:intensity" if meets_minimum_isaac_version("2023.0.0") else "intensity")

    @intensity.setter
    def intensity(self, intensity):
        """
        Sets this light's intensity

        Args:
            intensity (float): intensity to set
        """
        self._light_link.set_attribute(
            "inputs:intensity" if meets_minimum_isaac_version("2023.0.0") else "intensity",
            intensity)

    @property
    def color(self):
        """
        Gets this light's color

        Returns:
            float: color for this light
        """
        return tuple(float(x) for x in self._light_link.get_attribute(
            "inputs:color" if meets_minimum_isaac_version("2023.0.0") else "color"))

    @color.setter
    def color(self, color):
        """
        Sets this light's color

        Args:
            color ([float, float, float]): color to set, each value in range [0, 1]
        """
        self._light_link.set_attribute(
            "inputs:color" if meets_minimum_isaac_version("2023.0.0") else "color",
            Gf.Vec3f(color))

    @property
    def texture_file_path(self):
        """
        Gets this light's texture file path. Only valid for dome lights.

        Returns:
            str: texture file path for this light
        """
        return str(self._light_link.get_attribute(
            "inputs:texture:file" if meets_minimum_isaac_version("2023.0.0") else "texture:file"))

    @texture_file_path.setter
    def texture_file_path(self, texture_file_path):
        """
        Sets this light's texture file path. Only valid for dome lights.

        Args:
            texture_file_path (str): path of texture file that should be used for this light
        """
        self._light_link.set_attribute(
            "inputs:texture:file" if meets_minimum_isaac_version("2023.0.0") else "texture:file",
            Sdf.AssetPath(texture_file_path))


    def _create_prim_with_same_kwargs(self, prim_path, name, load_config):
        # Add additional kwargs (fit_avg_dim_volume and bounding_box are already captured in load_config)
        return self.__class__(
            prim_path=prim_path,
            light_type=self.light_type,
            name=name,
            intensity=self.intensity,
            load_config=load_config,
        )

color writable property

Gets this light's color

Returns:

Name	Type	Description
float		color for this light

intensity writable property

Gets this light's intensity

Returns:

Name	Type	Description
float		intensity for this light

light_link property

Returns:

Name	Type	Description
XFormPrim		Link corresponding to the light prim itself

radius writable property

Gets this light's radius

Returns:

Name	Type	Description
float		radius for this light

texture_file_path writable property

Gets this light's texture file path. Only valid for dome lights.

Returns:

Name	Type	Description
str		texture file path for this light

__init__(name, light_type, prim_path=None, category='light', class_id=None, uuid=None, scale=None, fixed_base=False, load_config=None, abilities=None, include_default_states=True, radius=1.0, intensity=50000.0, **kwargs)

Parameters:

Name	Type	Description	Default
name	str	Name for the object. Names need to be unique per scene	required
light_type	str	Type of light to create. Valid options are LIGHT_TYPES	required
prim_path	None or str	global path in the stage to this object. If not specified, will automatically be created at /World/	None
category	str	Category for the object. Defaults to "object".	'light'
class_id	None or int	What class ID the object should be assigned in semantic segmentation rendering mode. If None, the ID will be inferred from this object's category.	None
uuid	None or int	Unique unsigned-integer identifier to assign to this object (max 8-numbers). If None is specified, then it will be auto-generated	None
scale	None or float or 3-array	if specified, sets either the uniform (float) or x,y,z (3-array) scale for this object. A single number corresponds to uniform scaling along the x,y,z axes, whereas a 3-array specifies per-axis scaling.	None
fixed_base	bool	whether to fix the base of this object or not	False
load_config	None or dict	If specified, should contain keyword-mapped values that are relevant for loading this prim at runtime.	None
abilities	None or dict	If specified, manually adds specific object states to this object. It should be a dict in the form of {ability: {param: value}} containing object abilities and parameters to pass to the object state instance constructor.	None
include_default_states	bool	whether to include the default object states from @get_default_states	True
radius	float	Radius for this light.	1.0
intensity	float	Intensity for this light.	50000.0
kwargs	dict	Additional keyword arguments that are used for other super() calls from subclasses, allowing for flexible compositions of various object subclasses (e.g.: Robot is USDObject + ControllableObject).	{}

Source code in omnigibson/objects/light_object.py

def __init__(
    self,
    name,
    light_type,
    prim_path=None,
    category="light",
    class_id=None,
    uuid=None,
    scale=None,
    fixed_base=False,
    load_config=None,
    abilities=None,
    include_default_states=True,
    radius=1.0,
    intensity=50000.0,
    **kwargs,
):

    """
    Args:
        name (str): Name for the object. Names need to be unique per scene
        light_type (str): Type of light to create. Valid options are LIGHT_TYPES
        prim_path (None or str): global path in the stage to this object. If not specified, will automatically be
            created at /World/<name>
        category (str): Category for the object. Defaults to "object".
        class_id (None or int): What class ID the object should be assigned in semantic segmentation rendering mode.
            If None, the ID will be inferred from this object's category.
        uuid (None or int): Unique unsigned-integer identifier to assign to this object (max 8-numbers).
            If None is specified, then it will be auto-generated
        scale (None or float or 3-array): if specified, sets either the uniform (float) or x,y,z (3-array) scale
            for this object. A single number corresponds to uniform scaling along the x,y,z axes, whereas a
            3-array specifies per-axis scaling.
        fixed_base (bool): whether to fix the base of this object or not
        load_config (None or dict): If specified, should contain keyword-mapped values that are relevant for
            loading this prim at runtime.
        abilities (None or dict): If specified, manually adds specific object states to this object. It should be
            a dict in the form of {ability: {param: value}} containing object abilities and parameters to pass to
            the object state instance constructor.
        include_default_states (bool): whether to include the default object states from @get_default_states
        radius (float): Radius for this light.
        intensity (float): Intensity for this light.
        kwargs (dict): Additional keyword arguments that are used for other super() calls from subclasses, allowing
            for flexible compositions of various object subclasses (e.g.: Robot is USDObject + ControllableObject).
    """
    # Compose load config and add rgba values
    load_config = dict() if load_config is None else load_config
    load_config["scale"] = scale
    load_config["intensity"] = intensity
    load_config["radius"] = radius if light_type in {"Cylinder", "Disk", "Sphere"} else None

    # Make sure primitive type is valid
    assert_valid_key(key=light_type, valid_keys=self.LIGHT_TYPES, name="light_type")
    self.light_type = light_type

    # Other attributes to be filled in at runtime
    self._light_link = None

    # Run super method
    super().__init__(
        prim_path=prim_path,
        name=name,
        category=category,
        class_id=class_id,
        uuid=uuid,
        scale=scale,
        visible=True,
        fixed_base=fixed_base,
        visual_only=True,
        self_collisions=False,
        prim_type=PrimType.RIGID,
        include_default_states=include_default_states,
        load_config=load_config,
        abilities=abilities,
        **kwargs,
    )