Alessio Quaglino
384ed8097a
PiperOrigin-RevId: 653610253 Change-Id: Ibe57c19c6a7326266f51c5cda39cd564bd456c54
84 lines
2.9 KiB
Python
84 lines
2.9 KiB
Python
# Copyright 2024 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ==============================================================================
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"""Light handling for USD exporter."""
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from typing import Optional
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import numpy as np
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# TODO: b/288149332 - Remove once USD Python Binding works well with pytype.
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# pytype: disable=module-attr
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from pxr import Gf
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from pxr import Usd
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from pxr import UsdGeom
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from pxr import UsdLux
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class USDSphereLight:
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"""Class that handles the sphere lights in the USD scene."""
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def __init__(
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self, stage: Usd.Stage, obj_name: str, radius: Optional[float] = 0.3
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):
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self.stage = stage
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xform_path = f"/World/Light_Xform_{obj_name}"
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light_path = f"{xform_path}/Light_{obj_name}"
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self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
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self.usd_light = UsdLux.SphereLight.Define(stage, light_path)
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self.usd_prim = stage.GetPrimAtPath(light_path)
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# we assume in mujoco that all lights are point lights
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self.usd_light.GetRadiusAttr().Set(radius)
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self.usd_light.GetTreatAsPointAttr().Set(False)
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self.usd_light.GetNormalizeAttr().Set(True)
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# defining ops required by update function
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self.translate_op = self.usd_xform.AddTranslateOp()
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def update(
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self, pos: np.ndarray, intensity: int, color: np.ndarray, frame: int
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):
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"""Updates the attributes of a sphere light."""
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self.translate_op.Set(Gf.Vec3d(pos.tolist()), frame)
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if not np.any(pos):
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intensity = 0
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self.usd_light.GetIntensityAttr().Set(intensity)
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self.usd_light.GetColorAttr().Set(Gf.Vec3d(color.tolist()))
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class USDDomeLight:
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"""Class that handles the dome lights in the USD scene."""
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def __init__(self, stage: Usd.Stage, obj_name: str):
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self.stage = stage
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xform_path = f"/World/Light_Xform_{obj_name}"
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light_path = f"{xform_path}/Light_{obj_name}"
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self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
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self.usd_light = UsdLux.DomeLight.Define(stage, light_path)
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self.usd_prim = stage.GetPrimAtPath(light_path)
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# we assume in mujoco that all lights are point lights
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self.usd_light.GetNormalizeAttr().Set(True)
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def update(self, intensity: int, color: np.ndarray):
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"""Updates the attributes of a dome light."""
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self.usd_light.GetIntensityAttr().Set(intensity)
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self.usd_light.GetExposureAttr().Set(0.0)
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self.usd_light.GetColorAttr().Set(Gf.Vec3d(color.tolist()))
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