Flashlight

HoloOcean vehicles have one or more built-in flashlights that are off by default.

Location

The location and number of flashlights vary by vehicle:

BlueROV2 Flashlights

HoveringAUV Flashlights

CougUV Flashlights

TorpedoAUV Flashlights

SurfaceVessel Flashlights

Commands

There are two commands available to control the flashlights, TurnOnFlashlightCommand and TurnOffFlashlightCommand. The TurnOnFlashlightCommand allows you to optionally customize several parameters, such as: intensity, beam width, location, rotation, and color.

Note

Flashlight color values use normalized RGB in the range 0.0 – 1.0, not the standard 0 – 255 scale.

Refer to the Python API documentation for full usage details:

Usage Example (for a HoveringAUV/BlueROV2)

In a scenario

config = {
    "name": "test_flashlight",
    "main_agent": "auv0",
    ...
    "flashlight":[
        {
            "flashlight_name": "flashlight1",
            "intensity": 10000,
            "beam_width": 60,
        },
        {
            "flashlight_name": "flashlight4",
            "intensity": 10000,
            "color_G": 0,
            "angle_pitch": -30,
        },
    ]
}

Programmatically

with holoocean.make("...") as env:
    while True:
        if 'o' in pressed_keys:
            env.turn_on_flashlight("flashlight1")
            env.turn_on_flashlight("flashlight4", beam_width=80, color_B=0) #Turning on flashlight 4 with a beam width of 80 degrees and turning the blue color component to zero

        if 'p' in pressed_keys:
            env.turn_off_flashlight("flashlight1")
            env.turn_off_flashlight("flashlight4")

        env.tick()

Note

When calling turn_on_flashlight("flashlight_number") without specifying additional parameters, the system will first look for values defined in the scenario config. If the flashlight was configured there, those values become its defaults. Only if no config values are found will the command fall back to its built-in default parameters.