def main():
args, remainder = btb.parse_blendtorch_args()
np.random.seed(args.btseed)
cam = bpy.context.scene.camera
# Random colors for all cubes
cubes = list(bpy.data.collections['Cubes'].objects)
for idx, c in enumerate(cubes):
mat = bpy.data.materials.new(name=f'random{idx}')
mat.diffuse_color = np.concatenate((np.random.random(size=3), [1.]))
c.data.materials.append(mat)
c.active_material = mat
def pre_anim():
xyz = np.random.uniform((-3, -3, 6), (3, 3, 12.), size=(len(cubes), 3))
rot = np.random.uniform(-np.pi, np.pi, size=(len(cubes), 3))
for idx, c in enumerate(cubes):
c.location = xyz[idx]
c.rotation_euler = rot[idx]
def post_frame(anim, off, pub, cam):
pub.publish(image=off.render(),
xy=cam.object_to_pixel(*cubes),
frameid=anim.frameid)
pub = btb.DataPublisher(args.btsockets['DATA'], args.btid)
cam = btb.Camera()
off = btb.OffScreenRenderer(camera=cam, mode='rgb')
off.set_render_style(shading='RENDERED', overlays=False)
anim = btb.AnimationController()
anim.pre_animation.add(pre_anim)
anim.post_frame.add(post_frame, anim, off, pub, cam)
anim.play(frame_range=(0, 100), num_episodes=-1)
def main():
# Parse script arguments passed via blendtorch launcher
btargs, remainder = btb.parse_blendtorch_args()
cam = bpy.context.scene.camera
cube = bpy.data.objects["Cube"]
def pre_frame():
# Randomize cube rotation
cube.rotation_euler = np.random.uniform(0, np.pi, size=3)
def post_frame(off, pub, anim, cam):
# Called every after Blender finished processing a frame.
# Will be sent to one of the remote dataset listener connected.
pub.publish(image=off.render(),
xy=cam.object_to_pixel(cube),
frameid=anim.frameid)
# Data source
pub = btb.DataPublisher(btargs.btsockets['DATA'], btargs.btid)
# Setup default image rendering
cam = btb.Camera()
off = btb.Renderer(btargs.btid, camera=cam, mode='rgb')
# Setup the animation and run endlessly
anim = btb.AnimationController()
anim.pre_frame.add(pre_frame)
anim.post_frame.add(post_frame, off, pub, anim, cam)
anim.play(frame_range=(0, 100), num_episodes=-1, use_offline_render=False)
def main():
# Note, need to linger a bit in order to wait for unsent messages to be transmitted
# before exiting blender.
btargs, remainder = btb.parse_blendtorch_args()
pub = btb.DataPublisher(btargs.btsockets['DATA'],
btargs.btid,
lingerms=10000)
pub.publish(btargs=vars(btargs), remainder=remainder)
def main():
# Note, need to linger a bit in order to wait for unsent messages to be transmitted
# before exiting blender.
btargs, remainder = btb.parse_blendtorch_args()
duplex = btb.DuplexChannel(btargs.btsockets['CTRL'],
btid=btargs.btid,
lingerms=5000)
msg = duplex.recv(timeoutms=5000)
duplex.send(echo=msg)
duplex.send(msg='end')
def main():
btargs, remainder = btb.parse_blendtorch_args()
def post_frame(pub, anim):
pub.publish(frameid=anim.frameid, img=np.zeros((64,64), dtype=np.uint8))
# Data source: add linger to avoid not sending data upon closing Blender.
pub = btb.DataPublisher(btargs.btsockets['DATA'], btargs.btid, lingerms=5000)
anim = btb.AnimationController()
anim.post_frame.add(post_frame, pub, anim)
anim.play(frame_range=(1,3), num_episodes=-1, use_animation=not bpy.app.background)
def main():
# Update python-path with current blend file directory
btb.add_scene_dir_to_path()
import scene_helpers as scene
def pre_anim(meshes):
# Called before each animation
# Randomize supershapes
for m in meshes:
scene.update_mesh(m, sshape_res=SHAPE)
def post_frame(render, pub, animation):
# After frame
if anim.frameid == 1:
imgs = render.render()
pub.publish(normals=imgs['normals'], depth=imgs['depth'])
# Parse script arguments passed via blendtorch launcher
btargs, _ = btb.parse_blendtorch_args()
# Fetch camera
cam = bpy.context.scene.camera
bpy.context.scene.rigidbody_world.time_scale = 100
bpy.context.scene.rigidbody_world.substeps_per_frame = 300
# Setup supershapes
meshes = scene.prepare(NSHAPES, sshape_res=SHAPE)
# Data source
pub = btb.DataPublisher(btargs.btsockets['DATA'], btargs.btid)
# Setup default image rendering
cam = btb.Camera()
render = btb.CompositeRenderer(
[
btb.CompositeSelection('normals', 'Out1', 'Normals', 'RGB'),
btb.CompositeSelection('depth', 'Out1', 'Depth', 'V'),
],
btid=btargs.btid,
camera=cam,
)
# Setup the animation and run endlessly
anim = btb.AnimationController()
anim.pre_animation.add(pre_anim, meshes)
anim.post_frame.add(post_frame, render, pub, anim)
anim.play(frame_range=(0, 1),
num_episodes=-1,
use_offline_render=False,
use_physics=True)
def main():
args, remainder = btb.parse_blendtorch_args()
import argparse
parser = argparse.ArgumentParser()
parser.add_argument('--done-after', default=10, type=int)
envargs = parser.parse_args(remainder)
agent = btb.env.RemoteControlledAgent(
args.btsockets['GYM']
)
env = MyEnv(agent, done_after=envargs.done_after)
if not bpy.app.background:
env.attach_default_renderer(every_nth=1)
env.run(frame_range=(1,10000), use_animation=not bpy.app.background)
def main():
btargs, remainder = btb.parse_blendtorch_args()
cam = btb.Camera()
render = btb.CompositeRenderer(
[
btb.CompositeSelection('color', 'File Output', 'Color', 'RGB'),
btb.CompositeSelection('depth', 'File Output', 'Depth', 'V'),
],
btid=btargs.btid,
camera=cam,
)
data = render.render()
pub = btb.DataPublisher(btargs.btsockets['DATA'],
btargs.btid,
lingerms=5000)
pub.publish(**data)
def main():
args, remainder = btb.parse_blendtorch_args()
import argparse
parser = argparse.ArgumentParser()
parser.add_argument('--render-every', default=None, type=int)
parser.add_argument('--real-time', dest='realtime', action='store_true')
parser.add_argument('--no-real-time',
dest='realtime',
action='store_false')
envargs = parser.parse_args(remainder)
agent = btb.env.RemoteControlledAgent(args.btsockets['GYM'],
real_time=envargs.realtime)
env = CartpoleEnv(agent)
env.attach_default_renderer(every_nth=envargs.render_every)
env.run(frame_range=(1, 10000), use_animation=True)
def main():
btargs, remainder = btb.parse_blendtorch_args()
uvshape = (100, 100)
obj = sshape.make_bpy_mesh(uvshape)
idx = None
coords = None
params = None
gen = None
def pre_frame(duplex):
nonlocal gen, params, coords, idx
msg = duplex.recv(timeoutms=0)
if msg != None:
gen = generate_supershape(msg, shape=uvshape)
if gen != None:
try:
params, idx, coords = next(gen)
sshape.update_bpy_mesh(*coords, obj)
except StopIteration:
gen = None
def post_frame(off, pub):
if gen != None:
pub.publish(image=off.render(), shape_id=idx)
# Data source
pub = btb.DataPublisher(btargs.btsockets['DATA'], btargs.btid)
duplex = btb.DuplexChannel(btargs.btsockets['CTRL'], btargs.btid)
# Setup default image rendering
cam = btb.Camera()
off = btb.OffScreenRenderer(camera=cam, mode='rgb')
off.set_render_style(shading='SOLID', overlays=False)
# Setup the animation and run endlessly
anim = btb.AnimationController()
anim.pre_frame.add(pre_frame, duplex)
anim.post_frame.add(post_frame, off, pub)
anim.play(frame_range=(0, 10000), num_episodes=-1)
def main():
btargs, remainder = btb.parse_blendtorch_args()
seq = []
def pre_play(anim):
seq.extend(['pre_play', anim.frameid])
def pre_animation(anim):
seq.extend(['pre_animation', anim.frameid])
def pre_frame(anim):
seq.extend(['pre_frame', anim.frameid])
def post_frame(anim):
seq.extend(['post_frame', anim.frameid])
def post_animation(anim):
seq.extend(['post_animation', anim.frameid])
def post_play(anim, pub):
seq.extend(['post_play', anim.frameid])
pub.publish(seq=seq)
# Data source: add linger to avoid not sending data upon closing Blender.
pub = btb.DataPublisher(btargs.btsockets['DATA'],
btargs.btid,
lingerms=5000)
anim = btb.AnimationController()
anim.pre_play.add(pre_play, anim)
anim.pre_animation.add(pre_animation, anim)
anim.pre_frame.add(pre_frame, anim)
anim.post_frame.add(post_frame, anim)
anim.post_animation.add(post_animation, anim)
anim.post_play.add(post_play, anim, pub)
anim.play(frame_range=(1, 3),
num_episodes=2,
use_animation=not bpy.app.background)
def main():
btargs, remainder = btb.parse_blendtorch_args()
cube = bpy.data.objects['Cube']
ortho = btb.Camera(bpy.data.objects['CamOrtho'])
proj = btb.Camera(bpy.data.objects['CamProj'])
xyz = btb.utils.world_coordinates(cube)
proj_ndc, proj_z = proj.world_to_ndc(xyz, return_depth=True)
proj_pix = proj.ndc_to_pixel(proj_ndc, origin='upper-left')
ortho_ndc, ortho_z = ortho.world_to_ndc(xyz, return_depth=True)
ortho_pix = ortho.ndc_to_pixel(ortho_ndc, origin='upper-left')
pub = btb.DataPublisher(btargs.btsockets['DATA'],
btargs.btid,
lingerms=5000)
pub.publish(ortho_xy=ortho_pix,
ortho_z=ortho_z,
proj_xy=proj_pix,
proj_z=proj_z)
