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
prim_path	str	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 @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/prims/material_prim.py

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:
        prim_path (str): 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
            @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, name, prim_path, load_config=None):
        """
        Get a material prim from the persistent dictionary of materials, or create a new one if it doesn't exist.

        Args:
            name (str): Name for the object.
            prim_path (str): prim path of the MaterialPrim.
            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
                @prim_path -- it will be ignored if it already exists.
        Returns:
            MaterialPrim: Material prim at the specified path
        """
        # If the material already exists, return it
        if prim_path in cls.MATERIALS:
            return cls.MATERIALS[prim_path]

        # Otherwise, create a new one and return it
        new_material = cls(prim_path=prim_path, name=name, load_config=load_config)
        cls.MATERIALS[prim_path] = new_material
        return new_material

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

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

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

    def _load(self):
        # We create a new material at the specified path
        mtl_created = []
        lazy.omni.kit.commands.execute(
            "CreateAndBindMdlMaterialFromLibrary",
            mdl_name="OmniPBR.mdl" if self._load_config.get("mdl_name", None) is None else self._load_config["mdl_name"],
            mtl_name="OmniPBR" if self._load_config.get("mtl_name", None) is None else self._load_config["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)

        # Return generated material
        return lazy.omni.isaac.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)

    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)

    async def _load_mdl_parameters(self, render=True):
        """
        Loads MDL parameters internally so they can be accessed by our class instance

        Args:
            render (bool): If True, takes a rendering step before loading the mdl parameters.
                Note that a rendering step is necessary to load these parameters, though if a step has already
                occurred externally, no additional rendering step is needed
        """
        if render:
            og.sim.render()
        await lazy.omni.usd.get_context().load_mdl_parameters_for_prim_async(self._shader)

    def shader_force_populate(self, render=True):
        """
        Force populate inputs and outputs of the shader

        Args:
            render (bool): If True, takes a rendering step before force populating the inputs and outputs.
                Note that a rendering step is necessary to load these I/Os, though if a step has already
                occurred externally, no additional rendering step is needed
        """
        assert self._shader is not None
        asyncio.run(self._load_mdl_parameters(render=render))

    def shader_update_asset_paths_with_root_path(self, root_path):
        """
        Similar to @shader_update_asset_paths, except in this case, root_path is explicitly provided by the caller.

        Args:
            root_path (str): root to be pre-appended to the original asset paths
        """

        for inp_name in self.shader_input_names_by_type("SdfAssetPath"):
            inp = self.get_input(inp_name)
            # If the input doesn't have any path, skip
            if inp is None:
                continue

            original_path = inp.path if inp.resolvedPath == "" else inp.resolvedPath
            # If the input has an empty path, skip
            if original_path == "":
                continue

            new_path = os.path.join(root_path, original_path)
            self.set_input(inp_name, new_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
        """
        return self._shader.GetInput(inp).Get()

    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"
        assert inp in self.shader_input_names, \
            f"Got invalid shader input to set! Current inputs are: {self.shader_input_names}. Got: {inp}"
        self._shader.GetInput(inp).Set(val)

    @property
    def is_glass(self):
        """
        Returns:
            bool: Whether this material is a glass material or not
        """
        return "glass_color" in self.shader_input_names

    @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()}

    def shader_input_names_by_type(self, input_type):
        """
        Args:
            input_type (str): input type

        Returns:
            set: All the shader input names associated with this material that match the given input type
        """
        return {inp.GetBaseName() for inp in self._shader.GetInputs() if inp.GetTypeName().cppTypeName == input_type}

    @property
    def diffuse_color_constant(self):
        """
        Returns:
            3-array: this material's applied (R,G,B) color
        """
        return np.array(self.get_input(inp="diffuse_color_constant"))

    @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(*np.array(color, dtype=float)))

    @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_desaturation(self):
        """
        Returns:
            float: this material's applied albedo_desaturation
        """
        return self.get_input(inp="albedo_desaturation")

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

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

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

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

    @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(*np.array(color, dtype=float)))

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

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

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

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

    @property
    def reflectionroughness_texture(self):
        """
        Returns:
            None or str: this material's applied reflectionroughness_texture fpath if there is a texture applied, else
                None
        """
        inp = self.get_input(inp="reflectionroughness_texture")
        return None if inp is None else inp.resolvedPath

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

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

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

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

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

    @property
    def metallic_texture(self):
        """
        Returns:
            None or str: this material's applied metallic_texture fpath if there is a texture applied, else
                None
        """
        inp = self.get_input(inp="metallic_texture")
        return None if inp is None else inp.resolvedPath

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

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

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

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

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

    @property
    def ORM_texture(self):
        """
        Returns:
            None or str: this material's applied ORM_texture fpath if there is a texture applied, else
                None
        """
        inp = self.get_input(inp="ORM_texture")
        return None if inp is None else inp.resolvedPath

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

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

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

    @property
    def ao_texture(self):
        """
        Returns:
            None or str: this material's applied ao_texture fpath if there is a texture applied, else
                None
        """
        inp = self.get_input(inp="ao_texture")
        return None if inp is None else inp.resolvedPath

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

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

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

    @property
    def emissive_color(self):
        """
        Returns:
            3-array: this material's applied (R,G,B) emissive_color
        """
        return np.array(self.get_input(inp="emissive_color"))

    @emissive_color.setter
    def emissive_color(self, color):
        """
        Args:
             color (3-array): this material's applied emissive_color
        """
        self.set_input(inp="emissive_color", val=lazy.pxr.Gf.Vec3f(*np.array(color, dtype=float)))

    @property
    def emissive_color_texture(self):
        """
        Returns:
            None or str: this material's applied emissive_color_texture fpath if there is a texture applied, else
                None
        """
        inp = self.get_input(inp="emissive_color_texture")
        return None if inp is None else inp.resolvedPath

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

    @property
    def emissive_mask_texture(self):
        """
        Returns:
            None or str: this material's applied emissive_mask_texture fpath if there is a texture applied, else
                None
        """
        inp = self.get_input(inp="emissive_mask_texture")
        return None if inp is None else inp.resolvedPath

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

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

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

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

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

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

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

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

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

    @property
    def opacity_texture(self):
        """
        Returns:
            None or str: this material's applied opacity_texture fpath if there is a texture applied, else
                None
        """
        inp = self.get_input(inp="opacity_texture")
        return None if inp is None else inp.resolvedPath

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

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

    @opacity_mode.setter
    def opacity_mode(self, mode):
        """
        Args:
             mode (int): this material's applied opacity_mode
        """
        self.set_input(inp="opacity_mode", val=mode)

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

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

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

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

    @property
    def normalmap_texture(self):
        """
        Returns:
            None or str: this material's applied normalmap_texture fpath if there is a texture applied, else
                None
        """
        inp = self.get_input(inp="normalmap_texture")
        return None if inp is None else inp.resolvedPath

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

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

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

    @property
    def detail_normalmap_texture(self):
        """
        Returns:
            None or str: this material's applied detail_normalmap_texture fpath if there is a texture applied, else
                None
        """
        inp = self.get_input(inp="detail_normalmap_texture")
        return None if inp is None else inp.resolvedPath

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

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

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

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

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

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

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

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

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

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

    @uv_space_index.setter
    def uv_space_index(self, index):
        """
        Args:
             index (int): this material's applied uv_space_index
        """
        self.set_input(inp="uv_space_index", val=index)

    @property
    def texture_translate(self):
        """
        Returns:
            2-array: this material's applied texture_translate
        """
        return np.array(self.get_input(inp="texture_translate"))

    @texture_translate.setter
    def texture_translate(self, translate):
        """
        Args:
             translate (2-array): this material's applied (x,y) texture_translate
        """
        self.set_input(inp="texture_translate", val=lazy.pxr.Gf.Vec2f(*np.array(translate, dtype=float)))

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

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

    @property
    def texture_scale(self):
        """
        Returns:
            2-array: this material's applied texture_scale
        """
        return np.array(self.get_input(inp="texture_scale"))

    @texture_scale.setter
    def texture_scale(self, scale):
        """
        Args:
             scale (2-array): this material's applied (x,y) texture_scale
        """
        self.set_input(inp="texture_scale", val=lazy.pxr.Gf.Vec2f(*np.array(scale, dtype=float)))

    @property
    def detail_texture_translate(self):
        """
        Returns:
            2-array: this material's applied detail_texture_translate
        """
        return np.array(self.get_input(inp="detail_texture_translate"))

    @detail_texture_translate.setter
    def detail_texture_translate(self, translate):
        """
        Args:
             translate (2-array): this material's applied detail_texture_translate
        """
        self.set_input(inp="detail_texture_translate", val=lazy.pxr.Gf.Vec2f(*np.array(translate, dtype=float)))

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

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

    @property
    def detail_texture_scale(self):
        """
        Returns:
            2-array: this material's applied detail_texture_scale
        """
        return np.array(self.get_input(inp="detail_texture_scale"))

    @detail_texture_scale.setter
    def detail_texture_scale(self, scale):
        """
        Args:
             scale (2-array): this material's applied detail_texture_scale
        """
        self.set_input(inp="detail_texture_scale", val=lazy.pxr.Gf.Vec2f(*np.array(scale, dtype=float)))

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

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

    @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)
        """
        return np.array(self.get_input(inp="diffuse_reflection_color"))

    @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(*np.array(color, dtype=float)))

    @property
    def specular_reflection_color(self):
        """
        Returns:
            3-array: this material's specular_reflection_color in (R,G,B)
        """
        return np.array(self.get_input(inp="specular_reflection_color"))

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

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

    @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(*np.array(color, dtype=float)))

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

    @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(*np.array(color, dtype=float)))

    @property
    def specular_reflection_ior_preset(self):
        """
        Returns:
            int: this material's specular_reflection_ior_preset (int corresponding to enum)
        """
        return self.get_input(inp="specular_reflection_ior_preset")

    @specular_reflection_ior_preset.setter
    def specular_reflection_ior_preset(self, preset):
        """
        Args:
             preset (int): this material's specular_reflection_ior_preset (int corresponding to enum)
        """
        self.set_input(inp="specular_reflection_ior_preset", val=preset)

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

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

    @property
    def glass_color(self):
        """
        Returns:
            3-array: this material's applied (R,G,B) glass color (only applicable to OmniGlass materials)
        """
        assert self.is_glass, f"Tried to query glass_color shader input, " \
                              f"but material at {self.prim_path} is not an OmniGlass material!"
        return np.array(self.get_input(inp="glass_color"))

    @glass_color.setter
    def glass_color(self, color):
        """
        Args:
             color (3-array): this material's applied (R,G,B) glass color (only applicable to OmniGlass materials)
        """
        assert self.is_glass, f"Tried to set glass_color shader input, " \
                              f"but material at {self.prim_path} is not an OmniGlass material!"
        self.set_input(inp="glass_color", val=lazy.pxr.Gf.Vec3f(*np.array(color, dtype=float)))

ORM_texture property writable

Returns:

Type	Description
	None or str: this material's applied ORM_texture fpath if there is a texture applied, else None

albedo_add property writable

Returns:

Name	Type	Description
float		this material's applied albedo_add

albedo_brightness property writable

Returns:

Name	Type	Description
float		this material's applied albedo_brightness

albedo_desaturation property writable

Returns:

Name	Type	Description
float		this material's applied albedo_desaturation

ao_texture property writable

Returns:

Type	Description
	None or str: this material's applied ao_texture fpath if there is a texture applied, else None

ao_to_diffuse property writable

Returns:

Name	Type	Description
float		this material's applied ao_to_diffuse

bump_factor property writable

Returns:

Name	Type	Description
float		this material's applied bump_factor

detail_bump_factor property writable

Returns:

Name	Type	Description
float		this material's applied detail_bump_factor

detail_normalmap_texture property writable

Returns:

Type	Description
	None or str: this material's applied detail_normalmap_texture fpath if there is a texture applied, else None

detail_texture_rotate property writable

Returns:

Name	Type	Description
float		this material's applied detail_texture_rotate

detail_texture_scale property writable

Returns:

Type	Description
	2-array: this material's applied detail_texture_scale

detail_texture_translate property writable

Returns:

Type	Description
	2-array: this material's applied detail_texture_translate

diffuse_color_constant property writable

Returns:

Type	Description
	3-array: this material's applied (R,G,B) 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:

Name	Type	Description
float		this material's applied diffuse_reflection_weight

diffuse_texture property writable

Returns:

Name	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

emissive_color property writable

Returns:

Type	Description
	3-array: this material's applied (R,G,B) emissive_color

emissive_color_texture property writable

Returns:

Type	Description
	None or str: this material's applied emissive_color_texture fpath if there is a texture applied, else None

emissive_intensity property writable

Returns:

Name	Type	Description
float		this material's applied emissive_intensity

emissive_mask_texture property writable

Returns:

Type	Description
	None or str: this material's applied emissive_mask_texture fpath if there is a texture applied, else None

enable_ORM_texture property writable

Returns:

Name	Type	Description
bool		this material's applied enable_ORM_texture

enable_diffuse_transmission property writable

Returns:

Name	Type	Description
float		this material's applied enable_diffuse_transmission

enable_emission property writable

Returns:

Name	Type	Description
bool		this material's applied enable_emission

enable_opacity property writable

Returns:

Name	Type	Description
bool		this material's applied enable_opacity

enable_opacity_texture property writable

Returns:

Name	Type	Description
bool		this material's applied enable_opacity_texture

enable_specular_transmission property writable

Returns:

Name	Type	Description
bool		this material's applied enable_specular_transmission

exclude_from_white_mode property writable

Returns:

Name	Type	Description
bool		this material's applied excludeFromWhiteMode

flip_tangent_u property writable

Returns:

Name	Type	Description
bool		this material's applied flip_tangent_u

flip_tangent_v property writable

Returns:

Name	Type	Description
bool		this material's applied flip_tangent_v

glass_color property writable

Returns:

Type	Description
	3-array: this material's applied (R,G,B) glass color (only applicable to OmniGlass materials)

is_glass property

Returns:

Name	Type	Description
bool		Whether this material is a glass material or not

metallic_constant property writable

Returns:

Name	Type	Description
float		this material's applied metallic_constant

metallic_texture property writable

Returns:

Type	Description
	None or str: this material's applied metallic_texture fpath if there is a texture applied, else None

metallic_texture_influence property writable

Returns:

Name	Type	Description
float		this material's applied metallic_texture_influence

normalmap_texture property writable

Returns:

Type	Description
	None or str: this material's applied normalmap_texture fpath if there is a texture applied, else None

opacity_constant property writable

Returns:

Name	Type	Description
float		this material's applied opacity_constant

opacity_mode property writable

Returns:

Name	Type	Description
int		this material's applied opacity_mode

opacity_texture property writable

Returns:

Type	Description
	None or str: this material's applied opacity_texture fpath if there is a texture applied, else None

opacity_threshold property writable

Returns:

Name	Type	Description
float		this material's applied opacity_threshold

project_uvw property writable

Returns:

Name	Type	Description
bool		this material's applied project_uvw

reflection_roughness_constant property writable

Returns:

Name	Type	Description
float		this material's applied reflection_roughness_constant

reflection_roughness_texture_influence property writable

Returns:

Name	Type	Description
float		this material's applied reflection_roughness_texture_influence

reflectionroughness_texture property writable

Returns:

Type	Description
	None or str: this material's applied reflectionroughness_texture fpath if there is a texture applied, else None

shader property

Returns:

Type	Description
	Usd.Shade: Shader associated with this material

shader_input_names property

Returns:

Name	Type	Description
set		All the shader input names associated with this material

specular_level property writable

Returns:

Name	Type	Description
float		this material's applied specular_level

specular_reflection_color property writable

Returns:

Type	Description
	3-array: this material's specular_reflection_color in (R,G,B)

specular_reflection_ior_preset property writable

Returns:

Name	Type	Description
int		this material's specular_reflection_ior_preset (int corresponding to enum)

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:

Name	Type	Description
float		this material's applied specular_transmission_weight

texture_rotate property writable

Returns:

Name	Type	Description
float		this material's applied texture_rotate

texture_scale property writable

Returns:

Type	Description
	2-array: this material's applied texture_scale

texture_translate property writable

Returns:

Type	Description
	2-array: this material's applied texture_translate

users property

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

uv_space_index property writable

Returns:

Name	Type	Description
int		this material's applied uv_space_index

world_or_object property writable

Returns:

Name	Type	Description
bool		this material's applied world_or_object

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/prims/material_prim.py

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/prims/material_prim.py

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)

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:

Name	Type	Description
any		value of the requested @inp

Source code in omnigibson/prims/material_prim.py

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
    """
    return self._shader.GetInput(inp).Get()

get_material(name, prim_path, load_config=None) 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
name	str	Name for the object.	required
prim_path	str	prim path of the MaterialPrim.	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 @prim_path -- it will be ignored if it already exists.	None

Returns: MaterialPrim: Material prim at the specified path

Source code in omnigibson/prims/material_prim.py

@classmethod
def get_material(cls, name, prim_path, load_config=None):
    """
    Get a material prim from the persistent dictionary of materials, or create a new one if it doesn't exist.

    Args:
        name (str): Name for the object.
        prim_path (str): prim path of the MaterialPrim.
        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
            @prim_path -- it will be ignored if it already exists.
    Returns:
        MaterialPrim: Material prim at the specified path
    """
    # If the material already exists, return it
    if prim_path in cls.MATERIALS:
        return cls.MATERIALS[prim_path]

    # Otherwise, create a new one and return it
    new_material = cls(prim_path=prim_path, name=name, load_config=load_config)
    cls.MATERIALS[prim_path] = new_material
    return new_material

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/prims/material_prim.py

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/prims/material_prim.py

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"
    assert inp in self.shader_input_names, \
        f"Got invalid shader input to set! Current inputs are: {self.shader_input_names}. Got: {inp}"
    self._shader.GetInput(inp).Set(val)

shader_force_populate(render=True)

Force populate inputs and outputs of the shader

Parameters:

Name	Type	Description	Default
render	bool	If True, takes a rendering step before force populating the inputs and outputs. Note that a rendering step is necessary to load these I/Os, though if a step has already occurred externally, no additional rendering step is needed	True

Source code in omnigibson/prims/material_prim.py

def shader_force_populate(self, render=True):
    """
    Force populate inputs and outputs of the shader

    Args:
        render (bool): If True, takes a rendering step before force populating the inputs and outputs.
            Note that a rendering step is necessary to load these I/Os, though if a step has already
            occurred externally, no additional rendering step is needed
    """
    assert self._shader is not None
    asyncio.run(self._load_mdl_parameters(render=render))

shader_input_names_by_type(input_type)

Parameters:

Name	Type	Description	Default
input_type	str	input type	required

Returns:

Name	Type	Description
set		All the shader input names associated with this material that match the given input type

Source code in omnigibson/prims/material_prim.py

def shader_input_names_by_type(self, input_type):
    """
    Args:
        input_type (str): input type

    Returns:
        set: All the shader input names associated with this material that match the given input type
    """
    return {inp.GetBaseName() for inp in self._shader.GetInputs() if inp.GetTypeName().cppTypeName == input_type}

shader_update_asset_paths_with_root_path(root_path)

Similar to @shader_update_asset_paths, except in this case, root_path is explicitly provided by the caller.

Parameters:

Name	Type	Description	Default
root_path	str	root to be pre-appended to the original asset paths	required

Source code in omnigibson/prims/material_prim.py

def shader_update_asset_paths_with_root_path(self, root_path):
    """
    Similar to @shader_update_asset_paths, except in this case, root_path is explicitly provided by the caller.

    Args:
        root_path (str): root to be pre-appended to the original asset paths
    """

    for inp_name in self.shader_input_names_by_type("SdfAssetPath"):
        inp = self.get_input(inp_name)
        # If the input doesn't have any path, skip
        if inp is None:
            continue

        original_path = inp.path if inp.resolvedPath == "" else inp.resolvedPath
        # If the input has an empty path, skip
        if original_path == "":
            continue

        new_path = os.path.join(root_path, original_path)
        self.set_input(inp_name, new_path)