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Add intensity and range parameters to lights.

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PiperOrigin-RevId: 758603199
Change-Id: I74e88bdfeedd9224e84d953f237d68eca79e6cb7
This commit is contained in:
Google DeepMind
2025-05-14 03:27:06 -07:00
committed by Copybara-Service
parent a6c3a287d6
commit fa95fe0c59
15 changed files with 160 additions and 52 deletions
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python/mujoco/introspect/structs.py
+51 -1
View File
@@ -2243,6 +2243,22 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='light radius for soft shadows',
array_extent=('nlight',),
),
StructFieldDecl(
name='light_intensity',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='intensity, in candela',
array_extent=('nlight',),
),
StructFieldDecl(
name='light_range',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='range of effectiveness',
array_extent=('nlight',),
),
StructFieldDecl(
name='light_active',
type=PointerType(
@@ -6735,6 +6751,16 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='float'),
doc='bulb radius for soft shadows',
),
StructFieldDecl(
name='intensity',
type=ValueType(name='float'),
doc='intensity, in candelas',
),
StructFieldDecl(
name='range',
type=ValueType(name='float'),
doc='range of effectiveness',
),
),
)),
('mjvOption',
@@ -7851,6 +7877,20 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='',
),
StructFieldDecl(
name='light_intensity',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='light_range',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='light_active',
type=PointerType(
@@ -10600,9 +10640,19 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
StructFieldDecl(
name='bulbradius',
type=ValueType(name='double'),
type=ValueType(name='float'),
doc='bulb radius, for soft shadows',
),
StructFieldDecl(
name='intensity',
type=ValueType(name='float'),
doc='intensity, in candelas',
),
StructFieldDecl(
name='range',
type=ValueType(name='float'),
doc='range of effectiveness',
),
StructFieldDecl(
name='attenuation',
type=ArrayType(
python/mujoco/structs.cc
+2
View File
@@ -1076,6 +1076,8 @@ This is useful for example when the MJB is not available as a file on disk.)"));
X(directional);
X(castshadow);
X(bulbradius);
X(intensity);
X(range);
#undef X
#define X(var) DefinePyArray(mjvLight, #var, &MjvLightWrapper::var)