Blenderproc2_Cobot

This repo is a demo script of blenderProc2, particularly the physics collision and simulation tutorial and examples.

• Sythetic datasets generation pipeline for object detection and pose estimation
• Augmented synthetic dataset with annotation

Install blenderproc lib

git clone https://github.com/DLR-RM/BlenderProc
cd BlenderProc
pip install -e .

To test if blenderproc library was installed correctly

blenderproc quickstart
blenderproc vis hdf5 output/0.hdf5

Sythetic Data Generation for PvNet

• step 1: modify the part_name and output_path in this pvnet script
• step 2: run the command in root folder:

bash script/pvnet NUMBER_OF_IMAGES

• step 3: after step 2 is done, modify the data_path in binary_mask.ipynb and run all code blocks to rename images and generate binary mask images for dataset that was just created.

Sythetic Data Generation

bash ./scripts/generate_dataset

Physical collision experiment

Before running this, please download USB CAD models, and put them in ./CAD_model/models

bash scripts/physical_sim

Generate video from ./output/images folder

python generate_video.py