Add support for forcing PBR material

Author: cgokmen

omnigibson/examples/scenes/scene_selector.py

@@ -34,14 +34,6 @@ def main(random_selection=False, headless=False, short_exec=False):
             "type": scene_type,
             "scene_model": scene_model,
         },
-        "robots": [
-            {
-                "type": "Turtlebot",
-                "obs_modalities": ["scan", "rgb", "depth"],
-                "action_type": "continuous",
-                "action_normalize": True,
-            },
-        ],
     }
 
     # If the scene type is interactive, also check if we want to quick load or full load the scene
@@ -52,7 +44,15 @@ def main(random_selection=False, headless=False, short_exec=False):
         }
         load_mode = choose_from_options(options=load_options, name="load mode", random_selection=random_selection)
         if load_mode == "Quick":
-            cfg["scene"]["load_object_categories"] = ["floors", "walls", "ceilings"]
+            cfg["scene"]["load_object_categories"] = [
+                "floors",
+                "walls",
+                "ceilings",
+                "lawn",
+                "driveway",
+                "roof",
+                "rail_fence",
+            ]
 
     # Load the environment
     env = og.Environment(configs=cfg)
@@ -62,16 +62,13 @@ def main(random_selection=False, headless=False, short_exec=False):
         og.sim.enable_viewer_camera_teleoperation()
 
     # Run a simple loop and reset periodically
-    max_iterations = 10 if not short_exec else 1
-    for j in range(max_iterations):
-        og.log.info("Resetting environment")
-        env.reset()
-        for i in range(100):
-            action = env.action_space.sample()
-            state, reward, terminated, truncated, info = env.step(action)
-            if terminated or truncated:
-                og.log.info("Episode finished after {} timesteps".format(i + 1))
-                break
+    steps = 0
+    while not short_exec or steps < 1000:
+        state, reward, terminated, truncated, info = env.step(None)
+        if terminated or truncated:
+            og.log.info("Episode finished after {} timesteps".format(steps + 1))
+            break
+        steps += 1
 
     # Always close the environment at the end
     og.clear()

omnigibson/macros.py

@@ -146,6 +146,9 @@ def determine_gm_path(default_path, env_var_name):
 # Forced light intensity for all DatasetObjects. None if the USD-provided intensities should be respected.
 gm.FORCE_LIGHT_INTENSITY = 10000
 
+# Whether to default the dataset objects to use the shipped V-Ray or OmniPBR materials
+gm.USE_PBR_MATERIALS = True
+
 # Forced roughness for all DatasetObjects. None if the USD-provided roughness maps should be respected.
 gm.FORCE_ROUGHNESS = 0.7
 

omnigibson/prims/entity_prim.py

@@ -15,6 +15,7 @@
 from omnigibson.prims.rigid_kinematic_prim import RigidKinematicPrim
 from omnigibson.prims.xform_prim import XFormPrim
 from omnigibson.utils.constants import JointAxis, JointType, PrimType
+from omnigibson.utils.render_utils import force_pbr_material_for_link
 from omnigibson.utils.usd_utils import PoseAPI, absolute_prim_path_to_scene_relative
 
 # Create settings for this module
@@ -256,6 +257,10 @@ def update_links(self):
             else:  # link_type == PrimType.CLOTH
                 link_cls = ClothPrim
 
+            # Apply the V-Ray to PBR material change if request by the macro
+            if gm.USE_PBR_MATERIALS:
+                force_pbr_material_for_link(self._prim, link_name)
+
             # Create and load the link
             self._links[link_name] = link_cls(
                 relative_prim_path=absolute_prim_path_to_scene_relative(self.scene, prim.GetPrimPath().__str__()),