omni.isaac.lab.sim.spawners.lights.lights 源代码

# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

from __future__ import annotations

from typing import TYPE_CHECKING

import omni.isaac.core.utils.prims as prim_utils
from pxr import Usd, UsdLux

from omni.isaac.lab.sim.utils import clone, safe_set_attribute_on_usd_prim

if TYPE_CHECKING:
    from . import lights_cfg


[文档]@clone def spawn_light( prim_path: str, cfg: lights_cfg.LightCfg, translation: tuple[float, float, float] | None = None, orientation: tuple[float, float, float, float] | None = None, ) -> Usd.Prim: """Create a light prim at the specified prim path with the specified configuration. The created prim is based on the `USD.LuxLight <https://openusd.org/dev/api/class_usd_lux_light_a_p_i.html>`_ API. .. note:: This function is decorated with :func:`clone` that resolves prim path into list of paths if the input prim path is a regex pattern. This is done to support spawning multiple assets from a single and cloning the USD prim at the given path expression. Args: prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern, then the asset is spawned at all the matching prim paths. cfg: The configuration for the light source. translation: The translation of the prim. Defaults to None, in which case this is set to the origin. orientation: The orientation of the prim as (w, x, y, z). Defaults to None, in which case this is set to identity. Raises: ValueError: When a prim already exists at the specified prim path. """ # check if prim already exists if prim_utils.is_prim_path_valid(prim_path): raise ValueError(f"A prim already exists at path: '{prim_path}'.") # create the prim prim = prim_utils.create_prim(prim_path, prim_type=cfg.prim_type, translation=translation, orientation=orientation) # convert to dict cfg = cfg.to_dict() # delete spawner func specific parameters del cfg["prim_type"] # delete custom attributes in the config that are not USD parameters non_usd_cfg_param_names = ["func", "copy_from_source", "visible", "semantic_tags"] for param_name in non_usd_cfg_param_names: del cfg[param_name] # set into USD API for attr_name, value in cfg.items(): # special operation for texture properties # note: this is only used for dome light if "texture" in attr_name: light_prim = UsdLux.DomeLight(prim) if attr_name == "texture_file": light_prim.CreateTextureFileAttr(value) elif attr_name == "texture_format": light_prim.CreateTextureFormatAttr(value) else: raise ValueError(f"Unsupported texture attribute: '{attr_name}'.") else: if attr_name == "visible_in_primary_ray": prim_prop_name = attr_name else: prim_prop_name = f"inputs:{attr_name}" # set the attribute safe_set_attribute_on_usd_prim(prim, prim_prop_name, value, camel_case=True) # return the prim return prim