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material_prim

MaterialPrim

Bases: BasePrim

Provides high level functions to deal with a material prim and its attributes/ properties.

If there is a material prim present at the path, it will use it. Otherwise, a new material prim at the specified prim path will be created.

Parameters:

Name Type Description Default
relative_prim_path str

Scene-local prim path of the Prim to encapsulate or create.

 required
name str

Name for the object. Names need to be unique per scene.

 required
load_config None or dict

If specified, should contain keyword-mapped values that are relevant for loading this prim at runtime. Note that this is only needed if the prim does not already exist at @relative_prim_path -- it will be ignored if it already exists. Subclasses should define the exact keys expected for their class. For this material prim, the below values can be specified:

mdl_name (None or str): If specified, should be the name of the mdl preset to load (including .mdl). None results in default, "OmniPBR.mdl" mtl_name (None or str): If specified, should be the name of the mtl preset to load. None results in default, "OmniPBR"

 None
Source code in OmniGibson/omnigibson/prims/material_prim.py 
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class MaterialPrim(BasePrim):
    """
    Provides high level functions to deal with a material prim and its attributes/ properties.

    If there is a material prim present at the path, it will use it. Otherwise, a new material prim at
    the specified prim path will be created.

    Args:
        relative_prim_path (str): Scene-local prim path of the Prim to encapsulate or create.
        name (str): Name for the object. Names need to be unique per scene.
        load_config (None or dict): If specified, should contain keyword-mapped values that are relevant for
            loading this prim at runtime. Note that this is only needed if the prim does not already exist at
            @relative_prim_path -- it will be ignored if it already exists. Subclasses should define the exact keys expected
            for their class. For this material prim, the below values can be specified:

            mdl_name (None or str): If specified, should be the name of the mdl preset to load (including .mdl).
                None results in default, "OmniPBR.mdl"
            mtl_name (None or str): If specified, should be the name of the mtl preset to load.
                None results in default, "OmniPBR"
    """

    # Persistent dictionary of materials, mapped from prim_path to MaterialPrim
    MATERIALS = dict()

    @classmethod
    def get_material(cls, scene, name, prim_path, **kwargs):
        """
        Get a material prim from the persistent dictionary of materials, or create a new one if it doesn't exist.

        Args:
            scene (Scene): Scene to which this material belongs.
            name (str): Name for the object.
            prim_path (str): prim path of the MaterialPrim.
            **kwargs (dict): Additional keyword arguments to pass to the MaterialPrim or subclass constructor.

        Returns:
            MaterialPrim: Material prim at the specified path
        """
        # If the material already exists, return it
        if prim_path in MaterialPrim.MATERIALS:
            return MaterialPrim.MATERIALS[prim_path]

        # Otherwise, create a new one and return it
        material_class = cls
        if lazy.isaacsim.core.utils.prims.is_prim_path_valid(prim_path):
            # If the prim already exists, infer its type.
            material_prim = lazy.isaacsim.core.utils.prims.get_prim_at_path(prim_path)
            shader_prim = lazy.omni.usd.get_shader_from_material(material_prim)
            assert shader_prim is not None, (
                f"Material prim at {prim_path} exists, but does not have a shader associated with it! "
                f"Please make sure the material is created correctly."
            )

            # If we are able to obtain the asset path and sub-identifier, we can determine the material class.
            mdl_asset = shader_prim.GetSourceAsset("mdl")
            if mdl_asset is not None:
                asset_path = mdl_asset.path
                asset_sub_identifier = shader_prim.GetSourceAssetSubIdentifier("mdl")

                if cls == MaterialPrim:
                    # If this function is getting called on MaterialPrim, then we try to pick a compatible subclass.
                    compatible_classes = [
                        subclass
                        for subclass in MaterialPrim.__subclasses__()
                        if subclass.supports_material(asset_path, asset_sub_identifier)
                    ]
                    assert len(compatible_classes) <= 1, (
                        "Found multiple compatible material prim classes for "
                        f"material at {prim_path} with asset path {asset_path} and sub-identifier {asset_sub_identifier}: "
                        f"{compatible_classes}"
                    )
                    if len(compatible_classes) == 1:
                        # Use the only found compatible class
                        material_class = compatible_classes[0]
                    else:
                        # Fall back to MaterialPrim
                        log.warning(
                            f"No compatible material prim class found for material at {prim_path} with "
                            f"asset path {asset_path} and sub-identifier {asset_sub_identifier}. "
                            f"Using MaterialPrim as a fallback."
                        )
                else:
                    # If this function is called on a subclass of MaterialPrim, then we check if the subclass supports the material.
                    assert material_class.supports_material(asset_path, asset_sub_identifier), (
                        f"MaterialPrim subclass {material_class.__name__} does not support material at {prim_path} "
                        f"with asset path {asset_path} and sub-identifier {asset_sub_identifier}!"
                    )
            else:
                # If the material prim exists, but does not have a shader file we can recognize.
                log.warning(
                    f"Material prim at {prim_path} exists, but does not have a known shader file associated with it! "
                    f"Using MaterialPrim as a fallback. If this is not intended, please make sure the material is created correctly."
                )

        relative_prim_path = absolute_prim_path_to_scene_relative(scene, prim_path)
        new_material = material_class(relative_prim_path=relative_prim_path, name=name, **kwargs)
        new_material.load(scene)
        assert (
            new_material.prim_path == prim_path
        ), f"Material prim path {new_material.prim_path} does not match {prim_path}"
        MaterialPrim.MATERIALS[prim_path] = new_material
        return new_material

    def __init__(
        self,
        relative_prim_path,
        name,
        load_config=None,
    ):
        # Other values that will be filled in at runtime
        self._shader = None
        self._shader_node = None

        # Users of this material: should be a set of BaseObject and BaseSystem
        self._users = set()

        # Run super init
        super().__init__(
            relative_prim_path=relative_prim_path,
            name=name,
            load_config=load_config,
        )

    @classmethod
    def supports_material(cls, asset_path, asset_sub_identifier):
        """
        Checks if this material prim supports the given asset path and sub-identifier.

        Args:
            asset_path (str): The asset path of the MDL file.
            asset_sub_identifier (str): The sub-identifier of the MDL file.

        Returns:
            bool: True if this material prim supports the given asset path and sub-identifier, False otherwise.
        """
        raise NotImplementedError(f"MaterialPrim subclass {cls.__name__} does not implement supports_material method!")

    @property
    def mdl_name(self):
        """
        The name of the MDL file to load for this material.
        This is expected to be defined in the load_config dictionary for this base class which is used
        for generic material prims. The PBR and V-Ray material prims will override this method
        to return their own MDL names.
        """
        assert "mdl_name" in self._load_config, (
            f"MaterialPrim at {self.prim_path} does not have a 'mdl_name' in its load_config! "
            f"Please specify it in the load_config dictionary or use one of the subclasses that "
            f"already define it (e.g. OmniPBRMaterialPrim, VRayMaterialPrim, OmniGlassMaterialPrim, OmniSurfaceMaterialPrim)"
        )
        return self._load_config["mdl_name"]

    @property
    def mtl_name(self):
        """
        The name of the material from the MDL file to load for this material.
        This is expected to be defined in the load_config dictionary for this base class which is used
        for generic material prims. The PBR and V-Ray material prims will override this method
        to return their own MDL names.
        """
        assert "mtl_name" in self._load_config, (
            f"MaterialPrim at {self.prim_path} does not have a 'mtl_name' in its load_config! "
            f"Please specify it in the load_config dictionary or use one of the subclasses that "
            f"already define it (e.g. OmniPBRMaterialPrim, VRayMaterialPrim, OmniGlassMaterialPrim)"
        )
        return self._load_config["mtl_name"]

    def _load(self):
        # We create a new material at the specified path
        mtl_created = []
        lazy.omni.kit.commands.execute(
            "CreateAndBindMdlMaterialFromLibrary",
            mdl_name=self.mdl_name,
            mtl_name=self.mtl_name,
            mtl_created_list=mtl_created,
        )
        material_path = mtl_created[0]

        # Move prim to desired location
        lazy.omni.kit.commands.execute("MovePrim", path_from=material_path, path_to=self.prim_path)
        og.sim.update_handles()

        # Return generated material
        return lazy.isaacsim.core.utils.prims.get_prim_at_path(self.prim_path)

    @classmethod
    def clear(cls):
        cls.MATERIALS = dict()

    @property
    def users(self):
        """
        Users of this material: should be a list of BaseObject and BaseSystem
        """
        return self._users

    def add_user(self, user):
        """
        Adds a user to the material. This can be a BaseObject or BaseSystem.

        Args:
            user (BaseObject or BaseSystem): User to add to the material
        """
        self._users.add(user)

    def remove_user(self, user):
        """
        Removes a user from the material. This can be a BaseObject or BaseSystem.
        If there are no users left, the material will be removed.

        Args:
            user (BaseObject or BaseSystem): User to remove from the material
        """
        self._users.remove(user)
        if len(self._users) == 0:
            self.remove()

    def remove(self):
        # Remove from global sensors dictionary
        self.MATERIALS.pop(self.prim_path)

        # Run super
        super().remove()

    def _post_load(self):
        # run super first
        super()._post_load()

        # Add this material to the list of global materials
        self.MATERIALS[self.prim_path] = self

        # Generate shader reference
        self._shader = lazy.omni.usd.get_shader_from_material(self._prim)
        self._shader_node = lazy.usd.mdl.RegistryUtils.GetShaderNodeForPrim(self._shader.GetPrim())

    def bind(self, target_prim_path):
        """
        Bind this material to an arbitrary prim (usually a visual mesh prim)

        Args:
            target_prim_path (str): prim path of the Prim to bind to
        """
        bind_material(prim_path=target_prim_path, material_path=self.prim_path)

    def get_input(self, inp):
        """
        Grabs the input with corresponding name @inp associated with this material and shader

        Args:
            inp (str): Name of the shader input whose value will be grabbed

        Returns:
            any: value of the requested @inp
        """
        non_default_inp = self._shader.GetInput(inp).Get()
        if non_default_inp is not None:
            return non_default_inp

        return self._shader_node.GetInput(inp).GetDefaultValue()

    def set_input(self, inp, val):
        """
        Sets the input with corresponding name @inp associated with this material and shader

        Args:
            inp (str): Name of the shader input whose value will be set
            val (any): Value to set for the input. This should be the valid type for that attribute.
        """
        # Make sure the input exists first, so we avoid segfaults with "invalid null prim"
        if inp in self.shader_input_names:
            self._shader.GetInput(inp).Set(val)
        elif inp in self.shader_default_input_names:
            input_type = get_sdf_value_type_name(val)
            self._shader.CreateInput(inp, input_type).Set(val)
        else:
            raise ValueError(f"Got invalid shader input to set! Got: {inp}")

    @property
    def shader(self):
        """
        Returns:
            Usd.Shade: Shader associated with this material
        """
        return self._shader

    @property
    def shader_input_names(self):
        """
        Returns:
            set: All the shader input names associated with this material
        """
        return {inp.GetBaseName() for inp in self._shader.GetInputs()}

    @property
    def shader_default_input_names(self):
        """
        Returns:
            set: All the shader input names associated with this material that have default values
        """
        return set(self._shader_node.GetInputNames())

    def get_shader_input_names_by_type(self, input_type, include_default=False):
        """
        Args:
            input_type (str): input type
            include_default (bool): whether to include default inputs
        Returns:
            set: All the shader input names associated with this material that match the given input type
        """
        shader_input_names = {
            inp.GetBaseName() for inp in self._shader.GetInputs() if inp.GetTypeName().cppTypeName == input_type
        }
        if not include_default:
            return shader_input_names
        shader_default_input_names = {
            inp_name
            for inp_name in self.shader_default_input_names
            if self._shader_node.GetInput(inp_name).GetType() == input_type
        }
        return shader_input_names | shader_default_input_names

    @property
    def average_diffuse_color(self):
        return th.zeros(3)

    @property
    def albedo_add(self):
        """
        Returns:
            float: this material's applied albedo_add
        """
        return 0.0

    @albedo_add.setter
    def albedo_add(self, add):
        """
        Args:
             add (float): this material's applied albedo_add
        """
        return

    @property
    def diffuse_tint(self):
        """
        Returns:
            3-array: this material's applied (R,G,B) diffuse_tint
        """
        return th.zeros(3)

    @diffuse_tint.setter
    def diffuse_tint(self, color):
        """
        Args:
             color (3-array): this material's applied (R,G,B) diffuse_tint
        """
        return

    def enable_highlight(self, highlight_color, highlight_intensity):
        """
        Enables highlight for this material with the specified color and intensity.

        Args:
            highlight_color (3-array): Color of the highlight in (R,G,B)
            highlight_intensity (float): Intensity of the highlight
        """
        pass

    def disable_highlight(self):
        """
        Disables highlight for this material.
        """
        pass

albedo_add property writable

Returns:

Type Description
float

this material's applied albedo_add

diffuse_tint property writable

Returns:

Type Description
3 - array

this material's applied (R,G,B) diffuse_tint

mdl_name property

The name of the MDL file to load for this material. This is expected to be defined in the load_config dictionary for this base class which is used for generic material prims. The PBR and V-Ray material prims will override this method to return their own MDL names.

mtl_name property

The name of the material from the MDL file to load for this material. This is expected to be defined in the load_config dictionary for this base class which is used for generic material prims. The PBR and V-Ray material prims will override this method to return their own MDL names.

shader property

Returns:

Type Description
Shade

Shader associated with this material

shader_default_input_names property

Returns:

Type Description
set

All the shader input names associated with this material that have default values

shader_input_names property

Returns:

Type Description
set

All the shader input names associated with this material

users property

Users of this material: should be a list of BaseObject and BaseSystem

add_user(user)

Adds a user to the material. This can be a BaseObject or BaseSystem.

Parameters:

Name Type Description Default
user BaseObject or BaseSystem

User to add to the material

 required
Source code in OmniGibson/omnigibson/prims/material_prim.py 
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def add_user(self, user):
    """
    Adds a user to the material. This can be a BaseObject or BaseSystem.

    Args:
        user (BaseObject or BaseSystem): User to add to the material
    """
    self._users.add(user)

bind(target_prim_path)

Bind this material to an arbitrary prim (usually a visual mesh prim)

Parameters:

Name Type Description Default
target_prim_path str

prim path of the Prim to bind to

 required
Source code in OmniGibson/omnigibson/prims/material_prim.py 
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def bind(self, target_prim_path):
    """
    Bind this material to an arbitrary prim (usually a visual mesh prim)

    Args:
        target_prim_path (str): prim path of the Prim to bind to
    """
    bind_material(prim_path=target_prim_path, material_path=self.prim_path)

disable_highlight()

Disables highlight for this material.

Source code in OmniGibson/omnigibson/prims/material_prim.py 
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def disable_highlight(self):
    """
    Disables highlight for this material.
    """
    pass

enable_highlight(highlight_color, highlight_intensity)

Enables highlight for this material with the specified color and intensity.

Parameters:

Name Type Description Default
highlight_color 3 - array

Color of the highlight in (R,G,B)

 required
highlight_intensity float

Intensity of the highlight

 required
Source code in OmniGibson/omnigibson/prims/material_prim.py 
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def enable_highlight(self, highlight_color, highlight_intensity):
    """
    Enables highlight for this material with the specified color and intensity.

    Args:
        highlight_color (3-array): Color of the highlight in (R,G,B)
        highlight_intensity (float): Intensity of the highlight
    """
    pass

get_input(inp)

Grabs the input with corresponding name @inp associated with this material and shader

Parameters:

Name Type Description Default
inp str

Name of the shader input whose value will be grabbed

 required

Returns:

Type Description
any

value of the requested @inp
Source code in OmniGibson/omnigibson/prims/material_prim.py 
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def get_input(self, inp):
    """
    Grabs the input with corresponding name @inp associated with this material and shader

    Args:
        inp (str): Name of the shader input whose value will be grabbed

    Returns:
        any: value of the requested @inp
    """
    non_default_inp = self._shader.GetInput(inp).Get()
    if non_default_inp is not None:
        return non_default_inp

    return self._shader_node.GetInput(inp).GetDefaultValue()

get_material(scene, name, prim_path, **kwargs) classmethod

Get a material prim from the persistent dictionary of materials, or create a new one if it doesn't exist.

Parameters:

Name Type Description Default
scene Scene

Scene to which this material belongs.

 required
name str

Name for the object.

 required
prim_path str

prim path of the MaterialPrim.

 required
**kwargs dict

Additional keyword arguments to pass to the MaterialPrim or subclass constructor.

 {}

Returns:

Type Description
MaterialPrim

Material prim at the specified path
Source code in OmniGibson/omnigibson/prims/material_prim.py 
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@classmethod
def get_material(cls, scene, name, prim_path, **kwargs):
    """
    Get a material prim from the persistent dictionary of materials, or create a new one if it doesn't exist.

    Args:
        scene (Scene): Scene to which this material belongs.
        name (str): Name for the object.
        prim_path (str): prim path of the MaterialPrim.
        **kwargs (dict): Additional keyword arguments to pass to the MaterialPrim or subclass constructor.

    Returns:
        MaterialPrim: Material prim at the specified path
    """
    # If the material already exists, return it
    if prim_path in MaterialPrim.MATERIALS:
        return MaterialPrim.MATERIALS[prim_path]

    # Otherwise, create a new one and return it
    material_class = cls
    if lazy.isaacsim.core.utils.prims.is_prim_path_valid(prim_path):
        # If the prim already exists, infer its type.
        material_prim = lazy.isaacsim.core.utils.prims.get_prim_at_path(prim_path)
        shader_prim = lazy.omni.usd.get_shader_from_material(material_prim)
        assert shader_prim is not None, (
            f"Material prim at {prim_path} exists, but does not have a shader associated with it! "
            f"Please make sure the material is created correctly."
        )

        # If we are able to obtain the asset path and sub-identifier, we can determine the material class.
        mdl_asset = shader_prim.GetSourceAsset("mdl")
        if mdl_asset is not None:
            asset_path = mdl_asset.path
            asset_sub_identifier = shader_prim.GetSourceAssetSubIdentifier("mdl")

            if cls == MaterialPrim:
                # If this function is getting called on MaterialPrim, then we try to pick a compatible subclass.
                compatible_classes = [
                    subclass
                    for subclass in MaterialPrim.__subclasses__()
                    if subclass.supports_material(asset_path, asset_sub_identifier)
                ]
                assert len(compatible_classes) <= 1, (
                    "Found multiple compatible material prim classes for "
                    f"material at {prim_path} with asset path {asset_path} and sub-identifier {asset_sub_identifier}: "
                    f"{compatible_classes}"
                )
                if len(compatible_classes) == 1:
                    # Use the only found compatible class
                    material_class = compatible_classes[0]
                else:
                    # Fall back to MaterialPrim
                    log.warning(
                        f"No compatible material prim class found for material at {prim_path} with "
                        f"asset path {asset_path} and sub-identifier {asset_sub_identifier}. "
                        f"Using MaterialPrim as a fallback."
                    )
            else:
                # If this function is called on a subclass of MaterialPrim, then we check if the subclass supports the material.
                assert material_class.supports_material(asset_path, asset_sub_identifier), (
                    f"MaterialPrim subclass {material_class.__name__} does not support material at {prim_path} "
                    f"with asset path {asset_path} and sub-identifier {asset_sub_identifier}!"
                )
        else:
            # If the material prim exists, but does not have a shader file we can recognize.
            log.warning(
                f"Material prim at {prim_path} exists, but does not have a known shader file associated with it! "
                f"Using MaterialPrim as a fallback. If this is not intended, please make sure the material is created correctly."
            )

    relative_prim_path = absolute_prim_path_to_scene_relative(scene, prim_path)
    new_material = material_class(relative_prim_path=relative_prim_path, name=name, **kwargs)
    new_material.load(scene)
    assert (
        new_material.prim_path == prim_path
    ), f"Material prim path {new_material.prim_path} does not match {prim_path}"
    MaterialPrim.MATERIALS[prim_path] = new_material
    return new_material

get_shader_input_names_by_type(input_type, include_default=False)

Parameters:

Name Type Description Default
input_type str

input type

 required
include_default bool

whether to include default inputs

 False

Returns: set: All the shader input names associated with this material that match the given input type

Source code in OmniGibson/omnigibson/prims/material_prim.py 
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def get_shader_input_names_by_type(self, input_type, include_default=False):
    """
    Args:
        input_type (str): input type
        include_default (bool): whether to include default inputs
    Returns:
        set: All the shader input names associated with this material that match the given input type
    """
    shader_input_names = {
        inp.GetBaseName() for inp in self._shader.GetInputs() if inp.GetTypeName().cppTypeName == input_type
    }
    if not include_default:
        return shader_input_names
    shader_default_input_names = {
        inp_name
        for inp_name in self.shader_default_input_names
        if self._shader_node.GetInput(inp_name).GetType() == input_type
    }
    return shader_input_names | shader_default_input_names

remove_user(user)

Removes a user from the material. This can be a BaseObject or BaseSystem. If there are no users left, the material will be removed.

Parameters:

Name Type Description Default
user BaseObject or BaseSystem

User to remove from the material

 required
Source code in OmniGibson/omnigibson/prims/material_prim.py 
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def remove_user(self, user):
    """
    Removes a user from the material. This can be a BaseObject or BaseSystem.
    If there are no users left, the material will be removed.

    Args:
        user (BaseObject or BaseSystem): User to remove from the material
    """
    self._users.remove(user)
    if len(self._users) == 0:
        self.remove()

set_input(inp, val)

Sets the input with corresponding name @inp associated with this material and shader

Parameters:

Name Type Description Default
inp str

Name of the shader input whose value will be set

 required
val any

Value to set for the input. This should be the valid type for that attribute.

 required
Source code in OmniGibson/omnigibson/prims/material_prim.py 
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def set_input(self, inp, val):
    """
    Sets the input with corresponding name @inp associated with this material and shader

    Args:
        inp (str): Name of the shader input whose value will be set
        val (any): Value to set for the input. This should be the valid type for that attribute.
    """
    # Make sure the input exists first, so we avoid segfaults with "invalid null prim"
    if inp in self.shader_input_names:
        self._shader.GetInput(inp).Set(val)
    elif inp in self.shader_default_input_names:
        input_type = get_sdf_value_type_name(val)
        self._shader.CreateInput(inp, input_type).Set(val)
    else:
        raise ValueError(f"Got invalid shader input to set! Got: {inp}")

supports_material(asset_path, asset_sub_identifier) classmethod

Checks if this material prim supports the given asset path and sub-identifier.

Parameters:

Name Type Description Default
asset_path str

The asset path of the MDL file.

 required
asset_sub_identifier str

The sub-identifier of the MDL file.

 required

Returns:

Type Description
bool

True if this material prim supports the given asset path and sub-identifier, False otherwise.
Source code in OmniGibson/omnigibson/prims/material_prim.py 
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@classmethod
def supports_material(cls, asset_path, asset_sub_identifier):
    """
    Checks if this material prim supports the given asset path and sub-identifier.

    Args:
        asset_path (str): The asset path of the MDL file.
        asset_sub_identifier (str): The sub-identifier of the MDL file.

    Returns:
        bool: True if this material prim supports the given asset path and sub-identifier, False otherwise.
    """
    raise NotImplementedError(f"MaterialPrim subclass {cls.__name__} does not implement supports_material method!")

OmniGlassMaterialPrim

Bases: MaterialPrim

A MaterialPrim that uses the OmniGlass material preset.

Source code in OmniGibson/omnigibson/prims/material_prim.py 
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class OmniGlassMaterialPrim(MaterialPrim):
    """
    A MaterialPrim that uses the OmniGlass material preset.
    """

    @classmethod
    def supports_material(cls, asset_path, asset_sub_identifier):
        return asset_path.endswith("OmniGlass.mdl") and asset_sub_identifier == "OmniGlass"

    @property
    def mdl_name(self):
        return "OmniGlass.mdl"

    @property
    def mtl_name(self):
        return "OmniGlass"

    @property
    def color(self):
        """
        Returns:
            3-array: this material's applied (R,G,B) glass color (only applicable to OmniGlass materials)
        """
        glass_color = self.get_input(inp="glass_color")
        return th.tensor(glass_color, dtype=th.float32) if glass_color is not None else None

    @color.setter
    def color(self, color):
        """
        Args:
             color (3-array): this material's applied (R,G,B) glass color (only applicable to OmniGlass materials)
        """
        self.set_input(inp="glass_color", val=lazy.pxr.Gf.Vec3f(*color))

    @property
    def average_diffuse_color(self):
        """
        Returns:
            3-array: this material's average diffuse color - we pretend this is the same as the glass color.
        """
        return self.color

average_diffuse_color property

Returns:

Type Description
3 - array

this material's average diffuse color - we pretend this is the same as the glass color.

color property writable

Returns:

Type Description
3 - array

this material's applied (R,G,B) glass color (only applicable to OmniGlass materials)

OmniPBRMaterialPrim

Bases: MaterialPrim

A MaterialPrim that uses the OmniPBR material preset.

Source code in OmniGibson/omnigibson/prims/material_prim.py 
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class OmniPBRMaterialPrim(MaterialPrim):
    """
    A MaterialPrim that uses the OmniPBR material preset.
    """

    @classmethod
    def supports_material(cls, asset_path, asset_sub_identifier):
        return asset_path.endswith("OmniPBR.mdl") and asset_sub_identifier == "OmniPBR"

    @property
    def mdl_name(self):
        return "OmniPBR.mdl"

    @property
    def mtl_name(self):
        return "OmniPBR"

    def _post_load(self):
        # Run super first
        super()._post_load()

        # Apply any forced roughness updates
        self.set_input(inp="reflection_roughness_texture_influence", val=0.0)
        self.set_input(inp="reflection_roughness_constant", val=gm.FORCE_ROUGHNESS)

        # TODO: Check that it does not use emission by default.

    @property
    def diffuse_color_constant(self):
        """
        Returns:
            3-array: this material's applied (R,G,B) color
        """
        diffuse_color_constant = self.get_input(inp="diffuse_color_constant")
        return th.tensor(diffuse_color_constant, dtype=th.float32) if diffuse_color_constant is not None else None

    @diffuse_color_constant.setter
    def diffuse_color_constant(self, color):
        """
        Args:
             color (3-array): this material's applied (R,G,B) color
        """
        self.set_input(inp="diffuse_color_constant", val=lazy.pxr.Gf.Vec3f(*color.tolist()))

    @property
    def diffuse_texture(self):
        """
        Returns:
            str: this material's applied diffuse_texture filepath
        """
        return self.get_input(inp="diffuse_texture").resolvedPath

    @diffuse_texture.setter
    def diffuse_texture(self, fpath):
        """
        Args:
            str: this material's applied diffuse_texture filepath
        """
        self.set_input(inp="diffuse_texture", val=lazy.pxr.Sdf.AssetPath(fpath))

    @property
    def albedo_add(self):
        """
        Returns:
            float: this material's applied albedo_add
        """
        return self.get_input(inp="albedo_add")

    @albedo_add.setter
    def albedo_add(self, add):
        """
        Args:
             add (float): this material's applied albedo_add
        """
        self.set_input(inp="albedo_add", val=add)

    @property
    def diffuse_tint(self):
        """
        Returns:
            3-array: this material's applied (R,G,B) diffuse_tint
        """
        diffuse_tint = self.get_input(inp="diffuse_tint")
        return th.tensor(diffuse_tint, dtype=th.float32) if diffuse_tint is not None else None

    @diffuse_tint.setter
    def diffuse_tint(self, color):
        """
        Args:
             color (3-array): this material's applied (R,G,B) diffuse_tint
        """
        self.set_input(inp="diffuse_tint", val=lazy.pxr.Gf.Vec3f(*color.tolist()))

    @property
    def average_diffuse_color(self):
        diffuse_texture = self.diffuse_texture
        return cv2.imread(diffuse_texture).mean(axis=(0, 1)) if diffuse_texture else self.diffuse_color_constant

    def enable_highlight(self, highlight_color, highlight_intensity):
        """
        Enables highlight for this material with the specified color and intensity.

        Args:
            highlight_color (3-array): Color of the highlight in (R,G,B)
            highlight_intensity (float): Intensity of the highlight
        """
        # Set emissive properties to enable highlight
        self.set_input(inp="enable_emission", val=True)
        self.set_input(inp="emissive_color", val=lazy.pxr.Gf.Vec3f(*highlight_color))
        self.set_input(inp="emissive_intensity", val=highlight_intensity)

    def disable_highlight(self):
        self.set_input(inp="enable_emission", val=False)

albedo_add property writable

Returns:

Type Description
float

this material's applied albedo_add

diffuse_color_constant property writable

Returns:

Type Description
3 - array

this material's applied (R,G,B) color

diffuse_texture property writable

Returns:

Type Description
str

this material's applied diffuse_texture filepath

diffuse_tint property writable

Returns:

Type Description
3 - array

this material's applied (R,G,B) diffuse_tint

enable_highlight(highlight_color, highlight_intensity)

Enables highlight for this material with the specified color and intensity.

Parameters:

Name Type Description Default
highlight_color 3 - array

Color of the highlight in (R,G,B)

 required
highlight_intensity float

Intensity of the highlight

 required
Source code in OmniGibson/omnigibson/prims/material_prim.py 
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def enable_highlight(self, highlight_color, highlight_intensity):
    """
    Enables highlight for this material with the specified color and intensity.

    Args:
        highlight_color (3-array): Color of the highlight in (R,G,B)
        highlight_intensity (float): Intensity of the highlight
    """
    # Set emissive properties to enable highlight
    self.set_input(inp="enable_emission", val=True)
    self.set_input(inp="emissive_color", val=lazy.pxr.Gf.Vec3f(*highlight_color))
    self.set_input(inp="emissive_intensity", val=highlight_intensity)

OmniSurfaceMaterialPrim

Bases: MaterialPrim

A MaterialPrim that uses the OmniSurface material preset.

Source code in OmniGibson/omnigibson/prims/material_prim.py 
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class OmniSurfaceMaterialPrim(MaterialPrim):
    """
    A MaterialPrim that uses the OmniSurface material preset.
    """

    def __init__(self, relative_prim_path, name, preset_name, load_config=None):
        """
        Args:
            relative_prim_path (str): Scene-local prim path of the Prim to encapsulate or create.
            name (str): Name for the object. Names need to be unique per scene.
            preset_name (str): Name of the preset to use for this material. If None, defaults to "OmniSurface".
            load_config (None or dict): If specified, should contain keyword-mapped values that are relevant for
                loading this prim at runtime. Note that this is only needed if the prim does not already exist at
                @relative_prim_path -- it will be ignored if it already exists.
        """
        self.preset_name = preset_name
        super().__init__(relative_prim_path=relative_prim_path, name=name, load_config=load_config)

    @classmethod
    def supports_material(cls, asset_path, asset_sub_identifier):
        return (asset_path.endswith("OmniSurface.mdl") and asset_sub_identifier == "OmniSurface") or (
            asset_path.endswith("OmniSurfacePresets.mdl") and asset_sub_identifier.startswith("OmniSurface_")
        )

    @property
    def mdl_name(self):
        return "OmniSurfacePresets.mdl" if self.preset_name else "OmniSurface.mdl"

    @property
    def mtl_name(self):
        return f"OmniSurface_{self.preset_name}" if self.preset_name else "OmniSurface"

    @property
    def diffuse_reflection_weight(self):
        """
        Returns:
            float: this material's applied diffuse_reflection_weight
        """
        return self.get_input(inp="diffuse_reflection_weight")

    @diffuse_reflection_weight.setter
    def diffuse_reflection_weight(self, weight):
        """
        Args:
             weight (float): this material's applied diffuse_reflection_weight
        """
        self.set_input(inp="diffuse_reflection_weight", val=weight)

    @property
    def enable_specular_transmission(self):
        """
        Returns:
            bool: this material's applied enable_specular_transmission
        """
        return self.get_input(inp="enable_specular_transmission")

    @enable_specular_transmission.setter
    def enable_specular_transmission(self, enabled):
        """
        Args:
             enabled (bool): this material's applied enable_specular_transmission
        """
        self.set_input(inp="enable_specular_transmission", val=enabled)

    @property
    def specular_transmission_weight(self):
        """
        Returns:
            float: this material's applied specular_transmission_weight
        """
        return self.get_input(inp="specular_transmission_weight")

    @specular_transmission_weight.setter
    def specular_transmission_weight(self, weight):
        """
        Args:
             weight (float): this material's applied specular_transmission_weight
        """
        self.set_input(inp="specular_transmission_weight", val=weight)

    @property
    def diffuse_reflection_color(self):
        """
        Returns:
            3-array: this material's diffuse_reflection_color in (R,G,B)
        """
        diffuse_reflection_color = self.get_input(inp="diffuse_reflection_color")
        return th.tensor(diffuse_reflection_color, dtype=th.float32) if diffuse_reflection_color is not None else None

    @diffuse_reflection_color.setter
    def diffuse_reflection_color(self, color):
        """
        Args:
             color (3-array): this material's diffuse_reflection_color in (R,G,B)
        """
        self.set_input(inp="diffuse_reflection_color", val=lazy.pxr.Gf.Vec3f(*color))

    @property
    def specular_transmission_color(self):
        """
        Returns:
            3-array: this material's specular_transmission_color in (R,G,B)
        """
        specular_transmission_color = self.get_input(inp="specular_transmission_color")
        return th.tensor(specular_transmission_color, dtype=th.float32)

    @specular_transmission_color.setter
    def specular_transmission_color(self, color):
        """
        Args:
             color (3-array): this material's specular_transmission_color in (R,G,B)
        """
        self.set_input(inp="specular_transmission_color", val=lazy.pxr.Gf.Vec3f(*color))

    @property
    def specular_transmission_scattering_color(self):
        """
        Returns:
            3-array: this material's specular_transmission_scattering_color in (R,G,B)
        """
        specular_transmission_scattering_color = self.get_input(inp="specular_transmission_scattering_color")
        return th.tensor(specular_transmission_scattering_color, dtype=th.float32)

    @specular_transmission_scattering_color.setter
    def specular_transmission_scattering_color(self, color):
        """
        Args:
             color (3-array): this material's specular_transmission_scattering_color in (R,G,B)
        """
        self.set_input(inp="specular_transmission_scattering_color", val=lazy.pxr.Gf.Vec3f(*color))

    @property
    def average_diffuse_color(self):
        base_color_weight = self.diffuse_reflection_weight
        transmission_weight = self.enable_specular_transmission * self.specular_transmission_weight
        total_weight = base_color_weight + transmission_weight

        # If the fluid doesn't have any color, we add a "blue" tint by default
        if total_weight == 0.0:
            return th.tensor([0.0, 0.0, 1.0])

        base_color_weight /= total_weight
        transmission_weight /= total_weight
        # Weighted sum of base color and transmission color
        return base_color_weight * self.diffuse_reflection_color + transmission_weight * (
            0.5 * self.specular_transmission_color + 0.5 * self.specular_transmission_scattering_color
        )

diffuse_reflection_color property writable

Returns:

Type Description
3 - array

this material's diffuse_reflection_color in (R,G,B)

diffuse_reflection_weight property writable

Returns:

Type Description
float

this material's applied diffuse_reflection_weight

enable_specular_transmission property writable

Returns:

Type Description
bool

this material's applied enable_specular_transmission

specular_transmission_color property writable

Returns:

Type Description
3 - array

this material's specular_transmission_color in (R,G,B)

specular_transmission_scattering_color property writable

Returns:

Type Description
3 - array

this material's specular_transmission_scattering_color in (R,G,B)

specular_transmission_weight property writable

Returns:

Type Description
float

this material's applied specular_transmission_weight

__init__(relative_prim_path, name, preset_name, load_config=None)

Parameters:

Name Type Description Default
relative_prim_path str

Scene-local prim path of the Prim to encapsulate or create.

 required
name str

Name for the object. Names need to be unique per scene.

 required
preset_name str

Name of the preset to use for this material. If None, defaults to "OmniSurface".

 required
load_config None or dict

If specified, should contain keyword-mapped values that are relevant for loading this prim at runtime. Note that this is only needed if the prim does not already exist at @relative_prim_path -- it will be ignored if it already exists.

 None
Source code in OmniGibson/omnigibson/prims/material_prim.py 
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def __init__(self, relative_prim_path, name, preset_name, load_config=None):
    """
    Args:
        relative_prim_path (str): Scene-local prim path of the Prim to encapsulate or create.
        name (str): Name for the object. Names need to be unique per scene.
        preset_name (str): Name of the preset to use for this material. If None, defaults to "OmniSurface".
        load_config (None or dict): If specified, should contain keyword-mapped values that are relevant for
            loading this prim at runtime. Note that this is only needed if the prim does not already exist at
            @relative_prim_path -- it will be ignored if it already exists.
    """
    self.preset_name = preset_name
    super().__init__(relative_prim_path=relative_prim_path, name=name, load_config=load_config)

VRayMaterialPrim

Bases: MaterialPrim

A MaterialPrim that uses the V-Ray material preset.

Source code in OmniGibson/omnigibson/prims/material_prim.py 
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class VRayMaterialPrim(MaterialPrim):
    """
    A MaterialPrim that uses the V-Ray material preset.
    """

    @classmethod
    def supports_material(cls, asset_path, asset_sub_identifier):
        return asset_path.endswith("omnigibson_vray_mtl.mdl") and asset_sub_identifier == "OmniGibsonVRayMtl"

    @property
    def mdl_name(self):
        return "omnigibson_vray_mtl.mdl"

    @property
    def mtl_name(self):
        return "OmniGibsonVRayMtl"

    @property
    def diffuse_texture(self):
        """
        Returns:
            str: this material's applied diffuse_texture filepath
        """
        return self.get_input(inp="diffuse_texture").resolvedPath

    @property
    def albedo_add(self):
        """
        Returns:
            float: this material's applied albedo_add
        """
        return self.get_input(inp="albedo_add")

    @albedo_add.setter
    def albedo_add(self, add):
        """
        Args:
             add (float): this material's applied albedo_add
        """
        self.set_input(inp="albedo_add", val=add)

    @property
    def diffuse_tint(self):
        """
        Returns:
            3-array: this material's applied (R,G,B) diffuse_tint
        """
        diffuse_tint = self.get_input(inp="diffuse_tint")
        return th.tensor(diffuse_tint, dtype=th.float32) if diffuse_tint is not None else None

    @diffuse_tint.setter
    def diffuse_tint(self, color):
        """
        Args:
             color (3-array): this material's applied (R,G,B) diffuse_tint
        """
        self.set_input(inp="diffuse_tint", val=lazy.pxr.Gf.Vec3f(*color.tolist()))

    @property
    def average_diffuse_color(self):
        """
        Returns:
            3-array: this material's average diffuse color.
        """
        return cv2.imread(self.diffuse_texture).mean(axis=(0, 1))

    def enable_highlight(self, highlight_color, highlight_intensity):
        """
        Enables highlight for this material with the specified color and intensity.

        Args:
            highlight_color (3-array): Color of the highlight in (R,G,B)
            highlight_intensity (float): Intensity of the highlight
        """
        # Set emissive properties to enable highlight
        self.set_input(inp="emission_color", val=lazy.pxr.Gf.Vec3f(*highlight_color))
        self.set_input(inp="emission_intensity", val=highlight_intensity)

    def disable_highlight(self):
        self.set_input(inp="emission_color", val=lazy.pxr.Gf.Vec3f(0, 0, 0))
        self.set_input(inp="emission_intensity", val=0.0)

albedo_add property writable

Returns:

Type Description
float

this material's applied albedo_add

average_diffuse_color property

Returns:

Type Description
3 - array

this material's average diffuse color.

diffuse_texture property

Returns:

Type Description
str

this material's applied diffuse_texture filepath

diffuse_tint property writable

Returns:

Type Description
3 - array

this material's applied (R,G,B) diffuse_tint

enable_highlight(highlight_color, highlight_intensity)

Enables highlight for this material with the specified color and intensity.

Parameters:

Name Type Description Default
highlight_color 3 - array

Color of the highlight in (R,G,B)

 required
highlight_intensity float

Intensity of the highlight

 required
Source code in OmniGibson/omnigibson/prims/material_prim.py 
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def enable_highlight(self, highlight_color, highlight_intensity):
    """
    Enables highlight for this material with the specified color and intensity.

    Args:
        highlight_color (3-array): Color of the highlight in (R,G,B)
        highlight_intensity (float): Intensity of the highlight
    """
    # Set emissive properties to enable highlight
    self.set_input(inp="emission_color", val=lazy.pxr.Gf.Vec3f(*highlight_color))
    self.set_input(inp="emission_intensity", val=highlight_intensity)