1. install miniconda

miniconda

1. build and activate conda env

conda env create -f env.yml
conda activate render_tracebot

For physics rendering

3. setup render_cfg.yaml

4. if models_info.json does not exist call

python create_bop_models_info_json.py render_cfg.yaml 

5. start rendering

• Only rgb and depth

blenderproc run render_base.py render_cfg.yaml

• full bop_pipeline

./run.sh

For bop template rendering:

3. setup temp_cfg.yaml

4. run script

blenderproc run bop_templates.py temp_cfg.yaml

1: "MediumRinseFluidK_Bottle.stl" 2: "SmallSoyBroth_Bottle.stl" 3: "tracebot_needle_without_cap.stl" 4: "tracebot_cap.stl" 5: "RedCap.stl" 6: "FluidContainer.stl" 7: "LargeRinseFluidA_Bottle.stl" 8: "yellow cap" 10: "white_clamp.stl" 11: "red_clamp.stl"