light_object
LightObject
Bases: StatefulObject
LightObjects are objects that generate light in the simulation
Source code in objects/light_object.py
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|
intensity
property
writable
Gets this joint'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
property
writable
Gets this light's radius
Returns:
Name | Type | Description |
---|---|---|
float | radius for this light |
__init__(prim_path, light_type, name=None, category='light', class_id=None, uuid=None, scale=None, load_config=None, abilities=None, include_default_states=True, radius=1.0, intensity=50000.0, **kwargs)
Parameters:
Name | Type | Description | Default |
---|---|---|---|
prim_path |
str
|
global path in the stage to this object |
required |
light_type |
str
|
Type of light to create. Valid options are LIGHT_TYPES |
required |
name |
None or str
|
Name for the object. Names need to be unique per scene. If None, a name will be generated at the time the object is added to the scene, using the object's category. |
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
|
visible |
bool
|
whether to render this object or not in the stage |
required |
fixed_base |
bool
|
whether to fix the base of this object or not |
required |
visual_only |
bool
|
Whether this object should be visual only (and not collide with any other objects) |
required |
self_collisions |
bool
|
Whether to enable self collisions for this object |
required |
prim_type |
PrimType
|
Which type of prim the object is, Valid options are: {PrimType.RIGID, PrimType.CLOTH} |
required |
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). |
{}
|