Loading Lights into Isaac Sim

[user10385]

https://docs.omniverse.nvidia.com/kit/docs/kit-manual/latest/api/pxr.html?highlight=lux#usdlux-module

Where is the documentation for UsdLux? I’d like to add a sphere light and set it’s location, but can’t figure out how to do so from the docs.

All I can do is scraped from examples, like:

distantLight = UsdLux.DomeLight.Define(stage, Sdf.Path("/DomeLight"))
distantLight.CreateIntensityAttr(500)

[robin-vetsch]

Hi,

I’ve implemented it as follow:

class Light:

    def __init__(self, prim_path, simulationWorld, lightType, name, intensity, color, position, orientation):
        self.prim_path = prim_path
        self.lightType = lightType
        self.simulationWorld = simulationWorld
        self.name = name
        self.intensity = intensity
        self.color = color
        self.position = position
        self.orientation = orientation

    def initialize(self):
        #selection between different light types
        if self.lightType == "Dome":
            light = UsdLux.DomeLight.Define(self.simulationWorld.stage, Sdf.Path(self.prim_path))
            light.CreateIntensityAttr(self.intensity)
            light.CreateColorTemperatureAttr(self.color)
            light.AddTranslateOp()
        elif self.lightType == "Sphere":
            light = UsdLux.SphereLight.Define(self.simulationWorld.stage, Sdf.Path(self.prim_path))
            light.CreateIntensityAttr(self.intensity)
            light.CreateColorTemperatureAttr(self.color)
            light.AddTranslateOp()
        elif self.lightType == "Disk":
            light = UsdLux.DiskLight.Define(self.simulationWorld.stage, Sdf.Path(self.prim_path))
            light.CreateIntensityAttr(self.intensity)
            light.CreateColorTemperatureAttr(self.color)
            light.AddTranslateOp()
        elif self.lightType == "Distant":
            light = UsdLux.DistantLight.Define(self.simulationWorld.stage, Sdf.Path(self.prim_path))
            light.CreateIntensityAttr(self.intensity)
            light.CreateColorTemperatureAttr(self.color)
            light.AddTranslateOp()
        else:
            print("unsupported type of light is selected")

        lightPrim = XFormPrim(self.prim_path, name=self.name, position=self.position, orientation=self.orientation)

        return lightPrim

The class is then used in the following function:

def LoadingLight(simulationWorld, parameters, lightName):
    
    primPathLight = "/World/Lights/" + lightName

    LightObject = Light(prim_path=primPathLight,
                        simulationWorld=simulationWorld,
                        lightType=parameters["type"],
                        name=lightName,
                        intensity=parameters["intensity"],
                        color=parameters["temperature"],
                        position=np.array(parameters["position"]), 
                        orientation=np.array(parameters["rotation"]))

    lightPrim = LightObject.initialize()

    simulationWorld.scene.add(lightPrim)

    return simulationWorld

[user10385]

Thank you!