Skip to content

lighting.md

Latest commit

 

History

History
129 lines (99 loc) · 4.82 KB

lighting.md

File metadata and controls

129 lines (99 loc) · 4.82 KB

Lighting

RoboLab uses IsaacLab's light spawners to configure scene lighting. Lighting configs are @configclass objects that add light sources to the simulation and are passed as lighting_cfg during environment registration. These configs can live in your own repository.

Built-in Lighting Configurations

RoboLab ships several lighting presets in robolab/variations/lighting.py:

Sphere Lights

Config Intensity Color Position Notes
SphereLightCfg 5,000 White (0.0, -0.6, 0.7) Default for most registrations
ExtremelyDimSphereLightCfg 50 White (0.0, -0.6, 0.7) For testing low-light conditions
RedSphereLightCfg 100,000 Red (0.0, 0.0, 1.0) Colored light variation
GreenSphereLightCfg 100,000 Green (0.0, 0.0, 1.0) Colored light variation
BlueSphereLightCfg 100,000 Blue (0.0, 0.0, 1.0) Colored light variation

Directional Lights

Config Direction Intensity Notes
FrontDirectionalLightCfg Front 3,000 Facing the robot from the front
BehindDirectionalLightCfg Behind 3,000 Facing the robot from behind
TopDownDirectionalLightCfg Top-down 3,000 Overhead lighting
LeftDirectionalLightCfg Left 3,000 Side lighting from the left
RightDirectionalLightCfg Right 3,000 Side lighting from the right

Using a Lighting Config

Import the config and pass it as lighting_cfg in your registration function (see Environment Registration for the full example):

from robolab.variations.lighting import SphereLightCfg

# Inside your register_envs() function:
auto_discover_and_create_cfgs(
    lighting_cfg=SphereLightCfg,
    # ... other registration kwargs
)

Defining Custom Lighting

A lighting config is a @configclass with one or more AssetBaseCfg fields, each spawning a light. It can live in your own repository.

Sphere Light

import isaaclab.sim as sim_utils
from isaaclab.assets import AssetBaseCfg
from isaaclab.utils import configclass


@configclass
class MySphereLightCfg:
    my_light = AssetBaseCfg(
        prim_path="/World/my_sphere_light",
        spawn=sim_utils.SphereLightCfg(
            intensity=8000,
            color=(1.0, 0.95, 0.9),   # Warm white
            radius=0.1,
        ),
        init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, -0.5, 1.0)),
    )

Directional (Distant) Light

@configclass
class MyDirectionalLightCfg:
    directional_light = AssetBaseCfg(
        prim_path="/World/directional_light",
        spawn=sim_utils.DistantLightCfg(
            intensity=3000,
            angle=0.53,
            exposure=3.0,
        ),
        init_state=AssetBaseCfg.InitialStateCfg(
            pos=(0.0, 0.0, 5.0),
            rot=(0.7071, 0.0, 0.7071, 0.0),  # Front-facing
        ),
    )

Multiple Lights

You can define multiple light fields in one config:

@configclass
class MyStudioLightingCfg:
    key_light = AssetBaseCfg(
        prim_path="/World/key_light",
        spawn=sim_utils.SphereLightCfg(intensity=10000),
        init_state=AssetBaseCfg.InitialStateCfg(pos=(0.5, -0.8, 1.2)),
    )
    fill_light = AssetBaseCfg(
        prim_path="/World/fill_light",
        spawn=sim_utils.SphereLightCfg(intensity=3000),
        init_state=AssetBaseCfg.InitialStateCfg(pos=(-0.5, -0.3, 0.8)),
    )

Available Light Types

IsaacLab provides the following light spawners through isaaclab.sim:

Spawner Description
sim_utils.SphereLightCfg Point light from a sphere; parameters: intensity, color, radius
sim_utils.DistantLightCfg Directional light (sun-like); parameters: intensity, angle, exposure
sim_utils.DomeLightCfg Environment map light (HDR/EXR); used for Backgrounds
sim_utils.DiskLightCfg Area light from a disk
sim_utils.CylinderLightCfg Area light from a cylinder
sim_utils.RectLightCfg Area light from a rectangle

Lighting Variation for Robustness Testing

To evaluate policy robustness under different lighting conditions, register multiple environment variants with different lighting_cfg values. See robolab/registrations/droid_jointpos/auto_env_registrations_lighting_variations.py for a complete example.

The built-in evaluation script examples/policy/run_eval_lighting.py runs benchmarks across lighting conditions automatically.

See Also