Adding MDL Materials
One way to create scenes that ar visually more appealing is to attach materials to the geometries, such as MDLs.
The Material Definition Language (MDL) defines the behavior of light at a high level and enables sharing physcially based materials between applications. The vMaterials collection is a curated library of thousands of MDLs that represent real-world materials.
In the following we are showing how to attach MDLs from vMaterials in a random (but object-specific) manner to a USD kitchen scene generated with scene_synthesizer:
import random
from scene_synthesizer import procedural_scenes as ps
from scene_synthesizer.usd_import import get_scene_paths
from scene_synthesizer.exchange.usd_export import add_mdl_material, bind_material_to_prims
# The file name of the final result
usd_filename = "/tmp/kit.usd"
seed = None
random.seed(seed)
DEFAULT_TEXTURE_SCALE = 0.25
url_mdl_material = 'http://omniverse-content-production.s3.us-west-2.amazonaws.com/Materials/'
# A manually defined dictionary mapping specific materials to types of objects and parts
materials = {
'sink': [
('Base/Stone/Ceramic_Smooth_Fired.mdl', None, DEFAULT_TEXTURE_SCALE)
],
'countertop': [
('vMaterials_2/Metal/Copper_Hammered.mdl', 'Copper_Hammered_Shiny', 0.5),
('Base/Stone/Marble.mdl', None, DEFAULT_TEXTURE_SCALE),
('Base/Stone/Granite_Dark.mdl', 'Granite_Dark', DEFAULT_TEXTURE_SCALE),
('Base/Stone/Granite_Light.mdl', None, DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Metal/Stainless_Steel_Milled.mdl', 'Stainless_Steel_Milled_Worn', DEFAULT_TEXTURE_SCALE),
('Base/Stone/Terrazzo.mdl', None, DEFAULT_TEXTURE_SCALE),
('Base/Stone/Slate.mdl', None, DEFAULT_TEXTURE_SCALE),
('Base/Stone/Porcelain_Tile_4.mdl', None, DEFAULT_TEXTURE_SCALE),
('Base/Stone/Porcelain_Tile_4_Linen.mdl', None, DEFAULT_TEXTURE_SCALE),
('Base/Stone/Ceramic_Tile_12.mdl', None, DEFAULT_TEXTURE_SCALE),
('Base/Stone/Porcelain_Smooth.mdl', None, DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Stone/Terrazzo.mdl', None, DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Stone/Stone_Natural_Black.mdl', 'Stone_Natural_Black_Shiny', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Stone/Steel_Grey.mdl', 'Steel_Grey_Bright', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Stone/Basaltite.mdl', 'Basaltite_Worn', DEFAULT_TEXTURE_SCALE),
],
'glass': [
('Base/Glass/Tinted_Glass_R85.mdl', None, DEFAULT_TEXTURE_SCALE)
],
'tinted glass': [
('Base/Glass/Tinted_Glass_R75.mdl', None, DEFAULT_TEXTURE_SCALE)
],
'cabinet': [
('vMaterials_2/Paint/Paint_Eggshell.mdl', 'Paint_Eggshell_White', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Paint/Paint_Eggshell.mdl', 'Paint_Eggshell_Vanilla', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Paint/Paint_Eggshell.mdl', 'Paint_Eggshell_Cashmere', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Paint/Paint_Eggshell.mdl', 'Paint_Eggshell_Peach', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Paint/Paint_Eggshell.mdl', 'Paint_Eggshell', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Paint/Paint_Eggshell.mdl', 'Paint_Eggshell_Taupe', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Paint/Paint_Eggshell.mdl', 'Paint_Eggshell_Leaf', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Paint/Paint_Eggshell.mdl', 'Paint_Eggshell_Ash', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Paint/Paint_Eggshell.mdl', 'Paint_Eggshell_Denim', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Paint/Paint_Eggshell.mdl', 'Paint_Eggshell_Light_Denim', DEFAULT_TEXTURE_SCALE),
('Base/Wood/Bamboo.mdl', None, DEFAULT_TEXTURE_SCALE),
('Base/Wood/Birch.mdl', None, DEFAULT_TEXTURE_SCALE),
('Base/Wood/Cherry.mdl', None, DEFAULT_TEXTURE_SCALE),
('Base/Wood/Oak.mdl', None, DEFAULT_TEXTURE_SCALE),
('Base/Wood/Oak_Planks.mdl', None, DEFAULT_TEXTURE_SCALE),
('Base/Wood/Birch.mdl', None, DEFAULT_TEXTURE_SCALE),
('Base/Wood/Birch_Planks.mdl', None, DEFAULT_TEXTURE_SCALE),
('Base/Wood/Ash.mdl', None, DEFAULT_TEXTURE_SCALE),
('Base/Wood/Ash_Planks.mdl', None, DEFAULT_TEXTURE_SCALE),
('Base/Wood/Walnut.mdl', None, DEFAULT_TEXTURE_SCALE),
('Base/Wood/Walnut_Planks.mdl', None, DEFAULT_TEXTURE_SCALE),
],
'rusted metal': [
('Base/Metals/RustedMetal.mdl', None, DEFAULT_TEXTURE_SCALE)
],
'glossy black': [
('vMaterials_2/Paint/Carpaint/Carpaint_Solid.mdl', 'Black', DEFAULT_TEXTURE_SCALE)
],
'handle': [
('vMaterials_2/Metal/Silver_Foil.mdl', None, DEFAULT_TEXTURE_SCALE)
],
'appliances': [
('vMaterials_2/Metal/Aluminum_Brushed.mdl', None, DEFAULT_TEXTURE_SCALE)
],
'wall': [
('vMaterials_2/Paint/Paint_Eggshell.mdl', 'Paint_Eggshell_Pale_Rose', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Paint/Paint_Eggshell.mdl', 'Paint_Eggshell_Lime', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Paint/Paint_Eggshell.mdl', 'Paint_Eggshell_White', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Paint/Paint_Eggshell.mdl', 'Paint_Eggshell_Vanilla', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Paint/Paint_Eggshell.mdl', 'Paint_Eggshell_Cashmere', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Paint/Paint_Eggshell.mdl', 'Paint_Eggshell_Peach', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Paint/Paint_Eggshell.mdl', 'Paint_Eggshell', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Paint/Paint_Eggshell.mdl', 'Paint_Eggshell_Taupe', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Paint/Paint_Eggshell.mdl', 'Paint_Eggshell_Leaf', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Wood/Wood_Tiles_Pine.mdl', 'Wood_Tiles_Pine_Brickbond', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Diamond.mdl', 'Ceramic_Tiles_Diamond_Mint', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Diamond.mdl', 'Ceramic_Tiles_Diamond_Red_Varied', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Diamond.mdl', 'Ceramic_Tiles_Diamond_White_Matte', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Diamond_Offset.mdl', 'Ceramic_Tiles_Offset_Diamond_Graphite_Matte', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Diamond.mdl', 'Ceramic_Tiles_Diamond_White_Matte', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl', 'Ceramic_Tiles_Glazed_Subway', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Masonry/Facade_Brick_Red_Clinker.mdl', 'Facade_Brick_Red_Clinker_Painted_White', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Masonry/Facade_Brick_Red_Clinker.mdl', 'Facade_Brick_Red_Clinker_Painted_Yellow', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Masonry/Facade_Brick_Red_Clinker.mdl', 'Facade_Brick_Red_Clinker_Sloppy_Paint_Job', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Plaster/Plaster_Wall.mdl', 'Plaster_Wall', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Plaster/Plaster_Wall.mdl', 'Plaster_Wall_Cracked', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl', 'Ceramic_Tiles_Subway_Cappucino', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl', 'Ceramic_Tiles_Subway_White', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl', 'Ceramic_Tiles_Subway_White_Matte', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl', 'Ceramic_Tiles_Subway_White_Worn_Matte', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl', 'Ceramic_Tiles_Subway_Gray', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl', 'Ceramic_Tiles_Subway_Dark_Gray_Matte', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl', 'Ceramic_Tiles_Subway_Dark_Gray', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Penny.mdl', 'Ceramic_Tiles_Penny_Antique_White', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Penny.mdl', 'Ceramic_Tiles_Penny_White_Matte', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Penny.mdl', 'Ceramic_Tiles_Penny_Lime_Green_Varied', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Penny.mdl', 'Ceramic_Tiles_Penny_Graphite_Varied', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Penny.mdl', 'Ceramic_Tiles_Penny_Mint_Varied', DEFAULT_TEXTURE_SCALE),
],
'floor': [
('vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Diamond.mdl', 'Ceramic_Tiles_Diamond_White_Matte', DEFAULT_TEXTURE_SCALE),
('Base/Wood/Parquet_Floor.mdl', 'Parquet_Floor', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Concrete/Concrete_Floor_Damage.mdl', 'Concrete_Floor_Damage', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Wood/Wood_Tiles_Beech.mdl', 'Wood_Tiles_Beech_Herringbone', DEFAULT_TEXTURE_SCALE),
('Base/Stone/Adobe_Octagon_Dots.mdl', 'Adobe_Octagon_Dots', None),
('vMaterials_2/Wood/Wood_Tiles_Pine.mdl', 'Wood_Tiles_Pine_Brickbond', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Wood/Wood_Tiles_Pine.mdl', 'Wood_Tiles_Pine_Herringbone', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Wood/Wood_Tiles_Pine.mdl', 'Wood_Tiles_Pine_Mosaic', DEFAULT_TEXTURE_SCALE),
('Base/Wood/Oak.mdl', None, DEFAULT_TEXTURE_SCALE),
('Base/Wood/Oak_Planks.mdl', None, DEFAULT_TEXTURE_SCALE),
('Base/Stone/Terracotta.mdl', 'Terracotta', None),
('vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Versailles.mdl', 'Ceramic_Tiles_Versailles_Antique_White_Dirty', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Versailles.mdl', 'Ceramic_Tiles_Versailles_White_Matte', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Square.mdl', 'Ceramic_Tiles_Square_White_Matte', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Pinwheel.mdl', 'Ceramic_Tiles_Pinwheel_White_Matte', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Pinwheel.mdl', 'Ceramic_Tiles_Pinwheel_Antique_White_Dirty', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Paseo.mdl', 'Ceramic_Tiles_Paseo_White_Worn_Matte', DEFAULT_TEXTURE_SCALE),
('vMaterials_2/Ceramic/Ceramic_Tiles_Glazed_Diamond_Offset.mdl', 'Ceramic_Tiles_Offset_Diamond_Antique_White_Dirty', DEFAULT_TEXTURE_SCALE),
],
}
# A dictionary mapping scene object/part names to types the general types of objects/parts defined above
# The keys are regular expressions of prim_paths in the USD
geometry2material = {
"(.*cabinet.*corpus.*|.*cabinet.*door|.*drawer.*board.*|.*cabinet.*closed.*|/world/kitchen_island/.*)|/world/corner_(1|2|3)": "cabinet",
"(.*refrigerator.*|.*range_hood.*|.*range.*|.*dishwasher.*)": "appliances",
"/world/oven/corpus/heater.*": 'rusted metal',
"/world/oven/corpus/top": 'glossy black',
".*/corpus/sink": 'sink',
".*countertop.*": "countertop",
".*handle.*": "handle",
".*window": 'tinted glass',
".*glass": 'glass',
"/world/plate.*": 'sink',
"(/world/wall/geometry.*|/world/wall_(x|y|_y|_x)/geometry_0)": 'wall',
"/world/floor/geometry.*": 'floor',
}
# Generate a random kitchen
kitchen = ps.kitchen(seed=seed)
# Generate UV coordinates for certain primitives
kitchen.unwrap_geometries('(sink_cabinet/sink_countertop|countertop_.*|.*countertop)')
# Export the scene to a USD stage (in memory, not written to disk yet)
stage = kitchen.export(file_type='usd')
# Attach MDL materials to prims in USD stage
for geom_regex, material_group in geometry2material.items():
# Find all geometry prims of a particular category
paths = get_scene_paths(
stage=stage,
prim_types=["Mesh", "Capsule", "Cube", "Cylinder", "Sphere"],
scene_path_regex=geom_regex,
)
# select random material
if len(materials[material_group]) == 0:
print(f"Warning: No materials for {material_group}")
continue
mtl_url, mtl_name, texture_scale = random.choice(materials[material_group])
# add material to USD stage and bind to geometry prims
mtl = add_mdl_material(
stage=stage,
mtl_url=url_mdl_material + mtl_url,
mtl_name=mtl_name,
texture_scale=texture_scale
)
bind_material_to_prims(
stage=stage,
material=mtl,
prim_paths=paths
)
# Export scene to USD file
stage.Export(usd_filename)
The resulting USD file opened in Isaac Sim