Add emissive light mode to randomize_indirect_lighting#274
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Extend `randomize_indirect_lighting` with a mutually exclusive emissive light mode alongside the existing HDR mode. **HDR mode** (unchanged): provide `path` to a folder of `.hdr` files; a random file is selected each call via `set_indirect_lighting`. **Emissive mode** (new): provide `emissive_color_range` and/or `emissive_intensity_range`; values are sampled uniformly each call via `set_emission_light`. Configuring both modes simultaneously raises a `ValueError` at init. Neither mode configured also raises a `ValueError`. Changes: - `randomize_indirect_lighting` functor rewritten to enforce mutual exclusivity with clear error messages - 11 unit tests added to `test_event_functors.py` covering init validation, HDR mode behaviour, and emissive mode behaviour - `MockSim` extended with `set_indirect_lighting` / `set_emission_light` stubs for testing - `event_functors.md` updated to document both modes with JSON examples Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
yuecideng
added
enhancement
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Description
This PR extends
randomize_indirect_lightingto support a new emissive light mode that is mutually exclusive with the existing HDR environment-map mode.The functor now operates in one of two modes, enforced at initialisation:
path→ a random.hdrfile is selected each call viaset_indirect_lighting.emissive_color_rangeand/oremissive_intensity_range→ color and intensity are sampled uniformly each call viaset_emission_light.Configuring both modes simultaneously, or neither, raises a
ValueErrorwith a descriptive message.Type of change
Changes
embodichain/lab/gym/envs/managers/randomization/visual.py—randomize_indirect_lightingrewritten with mutual-exclusivity enforcement; HDR mode returns early so emissive code never runs, and vice-versa.tests/gym/envs/managers/test_event_functors.py— 11 new unit tests inTestRandomizeIndirectLightingcovering init validation, HDR mode, and emissive mode;MockSimextended withset_indirect_lighting/set_emission_lightstubs.docs/source/overview/gym/event_functors.md— updatedrandomize_indirect_lightingentry to document both modes with JSON config examples.Checklist
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