def configure_lighting(sim):
light_setup = [
LightInfo(
vector=[1.0, 1.0, 0.0, 1.0],
color=[18.0, 18.0, 18.0],
model=LightPositionModel.Global,
),
LightInfo(
vector=[0.0, -1.0, 0.0, 1.0],
color=[5.0, 5.0, 5.0],
model=LightPositionModel.Global,
),
LightInfo(
vector=[-1.0, 1.0, 1.0, 1.0],
color=[18.0, 18.0, 18.0],
model=LightPositionModel.Global,
),
]
sim.set_light_setup(light_setup)
def test_set_custom_light_setup(sim):
custom_setup_key = "custom_setup_key"
light_setup = sim.get_light_setup(custom_setup_key)
assert len(light_setup) == 0
light_setup.append(LightInfo(position=[1.0, 1.0, 1.0]))
assert sim.get_light_setup() != light_setup
sim.set_light_setup(light_setup, custom_setup_key)
assert sim.get_light_setup(custom_setup_key) == light_setup
def test_set_custom_light_setup(make_cfg_settings):
with habitat_sim.Simulator(make_cfg(make_cfg_settings)) as sim:
custom_setup_key = "custom_setup_key"
light_setup = sim.get_light_setup(custom_setup_key)
assert len(light_setup) == 0
light_setup.append(LightInfo(position=[1.0, 1.0, 1.0]))
assert sim.get_light_setup() != light_setup
sim.set_light_setup(light_setup, custom_setup_key)
assert sim.get_light_setup(custom_setup_key) == light_setup
def test_set_default_light_setup(sim):
light_setup = [LightInfo(position=[1.0, 1.0, 1.0])]
sim.set_light_setup(light_setup)
assert sim.get_light_setup() == light_setup
# ensure modifications to local light setup variable are not reflected in sim
light_setup[0].model = LightPositionModel.CAMERA
assert sim.get_light_setup() != light_setup
sim.set_light_setup(light_setup, DEFAULT_LIGHTING_KEY)
assert sim.get_light_setup() == light_setup
def test_set_default_light_setup(make_cfg_settings):
with habitat_sim.Simulator(make_cfg(make_cfg_settings)) as sim:
light_setup = [LightInfo(position=[1.0, 1.0, 1.0])]
sim.set_light_setup(light_setup)
assert sim.get_light_setup() == light_setup
# ensure modifications to local light setup variable are not reflected in sim
light_setup[0].model = LightPositionModel.CAMERA
assert sim.get_light_setup() != light_setup
sim.set_light_setup(light_setup, DEFAULT_LIGHTING_KEY)
assert sim.get_light_setup() == light_setup
def test_set_custom_light_setup(make_cfg_settings):
with habitat_sim.Simulator(make_cfg(make_cfg_settings)) as sim:
custom_setup_key = "custom_setup_key"
light_setup = sim.get_light_setup(custom_setup_key)
assert len(light_setup) == 0
# define a point light (w == 1)
light_setup.append(LightInfo(vector=[1.0, 1.0, 1.0, 1.0]))
assert sim.get_light_setup() != light_setup
sim.set_light_setup(light_setup, custom_setup_key)
assert sim.get_light_setup(custom_setup_key) == light_setup
def load_light_setup_for_glb(json_filepath):
with open(json_filepath) as json_file:
data = json.load(json_file)
lighting_setup = []
for light in data["lights"].values():
t = light["position"]
light_w = 1.0
position = [float(t[0]), float(t[1]), float(t[2]), light_w]
color_scale = float(light["intensity"])
color = [float(c * color_scale) for c in light["color"]]
lighting_setup.append(
LightInfo(
vector=position,
color=color,
model=LightPositionModel.Global,
))
return lighting_setup
def main(show_imgs=True, save_imgs=False):
if save_imgs and not os.path.exists(output_path):
os.mkdir(output_path)
# [default scene lighting]
# create the simulator and render flat shaded scene
cfg = make_configuration()
sim = habitat_sim.Simulator(cfg)
agent_transform = place_agent(sim)
get_obs(sim, show_imgs, save_imgs)
# [scene swap shader]
# close the simulator and re-initialize with DEFAULT_LIGHTING_KEY:
sim.close()
cfg = make_configuration()
cfg.sim_cfg.scene_light_setup = habitat_sim.gfx.DEFAULT_LIGHTING_KEY
sim = habitat_sim.Simulator(cfg)
agent_transform = place_agent(sim)
get_obs(sim, show_imgs, save_imgs)
# create and register new light setup:
my_scene_lighting_setup = [
LightInfo(vector=[0.0, 2.0, 0.6, 0.0], model=LightPositionModel.GLOBAL)
]
sim.set_light_setup(my_scene_lighting_setup, "my_scene_lighting")
# reconfigure with custom key:
new_cfg = make_configuration()
new_cfg.sim_cfg.scene_light_setup = "my_scene_lighting"
sim.reconfigure(new_cfg)
agent_transform = place_agent(sim)
get_obs(sim, show_imgs, save_imgs)
# [/scene]
# reset to default scene shading
sim.close()
cfg = make_configuration()
sim = habitat_sim.Simulator(cfg)
agent_transform = place_agent(sim) # noqa: F841
# [example 2]
# get the physics object attributes manager
obj_templates_mgr = sim.get_object_template_manager()
# load some object templates from configuration files
sphere_template_id = obj_templates_mgr.load_configs(
str(os.path.join(data_path, "test_assets/objects/sphere")))[0]
chair_template_id = obj_templates_mgr.load_configs(
str(os.path.join(data_path, "test_assets/objects/chair")))[0]
id_1 = sim.add_object(sphere_template_id)
sim.set_translation([3.2, 0.23, 0.03], id_1)
get_obs(sim, show_imgs, save_imgs)
# [/example 2]
# [example 3]
# create a custom light setup
my_default_lighting = [
LightInfo(vector=[2.0, 2.0, 1.0, 0.0], model=LightPositionModel.CAMERA)
]
# overwrite the default DEFAULT_LIGHTING_KEY light setup
sim.set_light_setup(my_default_lighting)
get_obs(sim, show_imgs, save_imgs)
# [/example 3]
# [example 4]
id_2 = sim.add_object(chair_template_id)
sim.set_rotation(mn.Quaternion.rotation(mn.Deg(-115), mn.Vector3.y_axis()),
id_2)
sim.set_translation([3.06, 0.47, 1.15], id_2)
get_obs(sim, show_imgs, save_imgs)
# [/example 4]
# [example 5]
light_setup_2 = [
LightInfo(
vector=[2.0, 1.5, 5.0, 1.0],
color=[0.0, 100.0, 100.0],
model=LightPositionModel.GLOBAL,
)
]
sim.set_light_setup(light_setup_2, "my_custom_lighting")
# [/example 5]
remove_all_objects(sim)
# [example 6]
id_1 = sim.add_object(chair_template_id,
light_setup_key="my_custom_lighting")
sim.set_rotation(mn.Quaternion.rotation(mn.Deg(-115), mn.Vector3.y_axis()),
id_1)
sim.set_translation([3.06, 0.47, 1.15], id_1)
id_2 = sim.add_object(chair_template_id,
light_setup_key="my_custom_lighting")
sim.set_rotation(mn.Quaternion.rotation(mn.Deg(50), mn.Vector3.y_axis()),
id_2)
sim.set_translation([3.45927, 0.47, -0.624958], id_2)
get_obs(sim, show_imgs, save_imgs)
# [/example 6]
# [example 7]
existing_light_setup = sim.get_light_setup("my_custom_lighting")
# create a new setup with an additional light
new_light_setup = existing_light_setup + [
LightInfo(
vector=[0.0, 0.0, 1.0, 0.0],
color=[1.6, 1.6, 1.4],
model=LightPositionModel.CAMERA,
)
]
# register the old setup under a new name
sim.set_light_setup(existing_light_setup, "my_old_custom_lighting")
# [/example 7]
# [example 8]
# register the new setup overwriting the old one
sim.set_light_setup(new_light_setup, "my_custom_lighting")
get_obs(sim, show_imgs, save_imgs)
# [/example 8]
# [example 9]
sim.set_object_light_setup(id_1, habitat_sim.gfx.DEFAULT_LIGHTING_KEY)
get_obs(sim, show_imgs, save_imgs)
def main(show_imgs=True, save_imgs=False):
if save_imgs and not os.path.exists(output_path):
os.mkdir(output_path)
# [default scene lighting]
# create the simulator and render flat shaded scene
cfg = make_configuration()
sim = habitat_sim.Simulator(cfg)
agent_transform = place_agent(sim)
get_obs(sim, show_imgs, save_imgs)
# [scene swap shader]
# close the simulator and re-initialize with DEFAULT_LIGHTING_KEY:
sim.close()
cfg = make_configuration()
cfg.sim_cfg.scene_light_setup = habitat_sim.gfx.DEFAULT_LIGHTING_KEY
sim = habitat_sim.Simulator(cfg)
agent_transform = place_agent(sim)
get_obs(sim, show_imgs, save_imgs)
# create and register new light setup:
my_scene_lighting_setup = [
LightInfo(vector=[0.0, 2.0, 0.6, 0.0], model=LightPositionModel.Global)
]
sim.set_light_setup(my_scene_lighting_setup, "my_scene_lighting")
# reconfigure with custom key:
new_cfg = make_configuration()
new_cfg.sim_cfg.scene_light_setup = "my_scene_lighting"
sim.reconfigure(new_cfg)
agent_transform = place_agent(sim)
get_obs(sim, show_imgs, save_imgs)
# [/scene]
# reset to default scene shading
sim.close()
cfg = make_configuration()
sim = habitat_sim.Simulator(cfg)
agent_transform = place_agent(sim) # noqa: F841
# [example 2]
# get the rigid object attributes manager, which manages
# templates used to create objects
obj_template_mgr = sim.get_object_template_manager()
# get the rigid object manager, which provides direct
# access to objects
rigid_obj_mgr = sim.get_rigid_object_manager()
# load some object templates from configuration files
sphere_template_id = obj_template_mgr.load_configs(
str(os.path.join(data_path, "test_assets/objects/sphere")))[0]
chair_template_id = obj_template_mgr.load_configs(
str(os.path.join(data_path, "test_assets/objects/chair")))[0]
# create a sphere and place it at a desired location
obj_1 = rigid_obj_mgr.add_object_by_template_id(sphere_template_id)
obj_1.translation = [3.2, 0.23, 0.03]
get_obs(sim, show_imgs, save_imgs)
# [/example 2]
# [example 3]
# create a custom light setup
my_default_lighting = [
LightInfo(vector=[2.0, 2.0, 1.0, 0.0], model=LightPositionModel.Camera)
]
# overwrite the default DEFAULT_LIGHTING_KEY light setup
sim.set_light_setup(my_default_lighting)
get_obs(sim, show_imgs, save_imgs)
# [/example 3]
# [example 4]
# create a chair and place it at a location with a specified orientation
obj_2 = rigid_obj_mgr.add_object_by_template_id(chair_template_id)
obj_2.rotation = mn.Quaternion.rotation(mn.Deg(-115), mn.Vector3.y_axis())
obj_2.translation = [3.06, 0.47, 1.15]
get_obs(sim, show_imgs, save_imgs)
# [/example 4]
# [example 5]
light_setup_2 = [
LightInfo(
vector=[2.0, 1.5, 5.0, 1.0],
color=[0.0, 100.0, 100.0],
model=LightPositionModel.Global,
)
]
sim.set_light_setup(light_setup_2, "my_custom_lighting")
# [/example 5]
rigid_obj_mgr.remove_all_objects()
# [example 6]
# create and place 2 chairs with custom light setups
chair_1 = rigid_obj_mgr.add_object_by_template_id(
chair_template_id, light_setup_key="my_custom_lighting")
chair_1.rotation = mn.Quaternion.rotation(mn.Deg(-115),
mn.Vector3.y_axis())
chair_1.translation = [3.06, 0.47, 1.15]
chair_2 = rigid_obj_mgr.add_object_by_template_id(
chair_template_id, light_setup_key="my_custom_lighting")
chair_2.rotation = mn.Quaternion.rotation(mn.Deg(50), mn.Vector3.y_axis())
chair_2.translation = [3.45927, 0.47, -0.624958]
get_obs(sim, show_imgs, save_imgs)
# [/example 6]
# [example 7]
existing_light_setup = sim.get_light_setup("my_custom_lighting")
# create a new setup with an additional light
new_light_setup = existing_light_setup + [
LightInfo(
vector=[0.0, 0.0, 1.0, 0.0],
color=[1.6, 1.6, 1.4],
model=LightPositionModel.Camera,
)
]
# register the old setup under a new name
sim.set_light_setup(existing_light_setup, "my_old_custom_lighting")
# [/example 7]
# [example 8]
# register the new setup overwriting the old one
sim.set_light_setup(new_light_setup, "my_custom_lighting")
get_obs(sim, show_imgs, save_imgs)
# [/example 8]
# [example 9]
chair_1.set_light_setup(habitat_sim.gfx.DEFAULT_LIGHTING_KEY)
get_obs(sim, show_imgs, save_imgs)