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light_object

LightObject

Bases: StatefulObject

LightObjects are objects that generate light in the simulation

Source code in omnigibson/objects/light_object.py 
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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,
        relative_prim_path=None,
        category="light",
        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
            relative_prim_path (None or str): The path relative to its scene prim for this object. If not specified, it defaults to /<name>.
            category (str): Category for the object. Defaults to "object".
            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__(
            relative_prim_path=relative_prim_path,
            name=name,
            category=category,
            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 = (
            getattr(lazy.pxr.UsdLux, 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(
            relative_prim_path=f"{self._relative_prim_path}/base_link/light", name=f"{self.name}:light_link"
        )
        self._light_link.load(self.scene)

        # Apply Shaping API and set default cone angle attribute
        shaping_api = lazy.pxr.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 th.ones(3) * -0.001, th.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("inputs:radius")

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

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

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

        Args:
            intensity (float): intensity to set
        """
        self._light_link.set_attribute("inputs: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"))

    @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", lazy.pxr.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"))

    @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", lazy.pxr.Sdf.AssetPath(texture_file_path))

    def _create_prim_with_same_kwargs(self, relative_prim_path, name, load_config):
        # Add additional kwargs (bounding_box is already captured in load_config)
        return self.__class__(
            relative_prim_path=relative_prim_path,
            light_type=self.light_type,
            name=name,
            intensity=self.intensity,
            load_config=load_config,
        )

color property writable

Gets this light's color

Returns:

Type Description
float

color for this light

intensity property writable

Gets this light's intensity

Returns:

Type Description
float

intensity for this light

Returns:

Type Description
XFormPrim

Link corresponding to the light prim itself

radius property writable

Gets this light's radius

Returns:

Type Description
float

radius for this light

texture_file_path property writable

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

Returns:

Type Description
str

texture file path for this light

__init__(name, light_type, relative_prim_path=None, category='light', 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
relative_prim_path None or str

The path relative to its scene prim for this object. If not specified, it defaults to /.

 None
category str

Category for the object. Defaults to "object".

 'light'
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 
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def __init__(
    self,
    name,
    light_type,
    relative_prim_path=None,
    category="light",
    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
        relative_prim_path (None or str): The path relative to its scene prim for this object. If not specified, it defaults to /<name>.
        category (str): Category for the object. Defaults to "object".
        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__(
        relative_prim_path=relative_prim_path,
        name=name,
        category=category,
        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,
    )