This class is autogenerated. More detailed documentation can be found in the SDFormat spec.

class v17.light.Light(cast_shadows=False, diffuse='1 1 1 1', specular='.1 .1 .1 1', attenuation=None, direction='0 0 -1', spot=None, pose=None, name=None, type=None)

The light element describes a light source.

cast_shadows: When true, the light will cast shadows.
diffuse: Diffuse light color
specular: Specular light color
attenuation: Light attenuation
direction: Direction of the light, only applicable for spot and

directional lights.

spot: Spot light parameters
pose: A position(x,y,z) and orientation(roll, pitch yaw) with

respect to the frame named in the relative_to attribute.

name: A unique name for the light.
type: The light type: point, directional, spot.

Nested Elements

Note that only complex elements are listed here. Elements that resolve to simple types (int, str, bool) are inlined.

v17.light.Light.Attenuation([range, linear, ...])

Light attenuation.

v17.light.Light.Pose([value, relative_to])


v17.light.Light.Spot([inner_angle, ...])

Spot light parameters.