Source code for omni.isaac.lab.sim.spawners.materials.visual_materials
# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
from typing import TYPE_CHECKING
import omni.isaac.core.utils.prims as prim_utils
import omni.kit.commands
from pxr import Usd
from omni.isaac.lab.sim.utils import clone, safe_set_attribute_on_usd_prim
from omni.isaac.lab.utils.assets import NVIDIA_NUCLEUS_DIR
if TYPE_CHECKING:
from . import visual_materials_cfg
[docs]@clone
def spawn_preview_surface(prim_path: str, cfg: visual_materials_cfg.PreviewSurfaceCfg) -> Usd.Prim:
"""Create a preview surface prim and override the settings with the given config.
A preview surface is a physically-based surface that handles simple shaders while supporting
both *specular* and *metallic* workflows. All color inputs are in linear color space (RGB).
For more information, see the `documentation <https://openusd.org/release/spec_usdpreviewsurface.html>`__.
The function calls the USD command `CreatePreviewSurfaceMaterialPrim`_ to create the prim.
.. _CreatePreviewSurfaceMaterialPrim: https://docs.omniverse.nvidia.com/kit/docs/omni.usd/latest/omni.usd.commands/omni.usd.commands.CreatePreviewSurfaceMaterialPrimCommand.html
.. note::
This function is decorated with :func:`clone` that resolves prim path into list of paths
if the input prim path is a regex pattern. This is done to support spawning multiple assets
from a single and cloning the USD prim at the given path expression.
Args:
prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
then the asset is spawned at all the matching prim paths.
cfg: The configuration instance.
Returns:
The created prim.
Raises:
ValueError: If a prim already exists at the given path.
"""
# spawn material if it doesn't exist.
if not prim_utils.is_prim_path_valid(prim_path):
omni.kit.commands.execute("CreatePreviewSurfaceMaterialPrim", mtl_path=prim_path, select_new_prim=False)
else:
raise ValueError(f"A prim already exists at path: '{prim_path}'.")
# obtain prim
prim = prim_utils.get_prim_at_path(f"{prim_path}/Shader")
# apply properties
cfg = cfg.to_dict()
del cfg["func"]
for attr_name, attr_value in cfg.items():
safe_set_attribute_on_usd_prim(prim, f"inputs:{attr_name}", attr_value, camel_case=True)
# return prim
return prim
[docs]@clone
def spawn_from_mdl_file(prim_path: str, cfg: visual_materials_cfg.MdlMaterialCfg) -> Usd.Prim:
"""Load a material from its MDL file and override the settings with the given config.
NVIDIA's `Material Definition Language (MDL) <https://www.nvidia.com/en-us/design-visualization/technologies/material-definition-language/>`__
is a language for defining physically-based materials. The MDL file format is a binary format
that can be loaded by Omniverse and other applications such as Adobe Substance Designer.
To learn more about MDL, see the `documentation <https://docs.omniverse.nvidia.com/materials-and-rendering/latest/materials.html>`_.
The function calls the USD command `CreateMdlMaterialPrim`_ to create the prim.
.. _CreateMdlMaterialPrim: https://docs.omniverse.nvidia.com/kit/docs/omni.usd/latest/omni.usd.commands/omni.usd.commands.CreateMdlMaterialPrimCommand.html
.. note::
This function is decorated with :func:`clone` that resolves prim path into list of paths
if the input prim path is a regex pattern. This is done to support spawning multiple assets
from a single and cloning the USD prim at the given path expression.
Args:
prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
then the asset is spawned at all the matching prim paths.
cfg: The configuration instance.
Returns:
The created prim.
Raises:
ValueError: If a prim already exists at the given path.
"""
# spawn material if it doesn't exist.
if not prim_utils.is_prim_path_valid(prim_path):
# extract material name from path
material_name = cfg.mdl_path.split("/")[-1].split(".")[0]
omni.kit.commands.execute(
"CreateMdlMaterialPrim",
mtl_url=cfg.mdl_path.format(NVIDIA_NUCLEUS_DIR=NVIDIA_NUCLEUS_DIR),
mtl_name=material_name,
mtl_path=prim_path,
select_new_prim=False,
)
else:
raise ValueError(f"A prim already exists at path: '{prim_path}'.")
# obtain prim
prim = prim_utils.get_prim_at_path(f"{prim_path}/Shader")
# apply properties
cfg = cfg.to_dict()
del cfg["func"]
del cfg["mdl_path"]
for attr_name, attr_value in cfg.items():
safe_set_attribute_on_usd_prim(prim, f"inputs:{attr_name}", attr_value, camel_case=False)
# return prim
return prim