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Loading and manipulating objects

Downloading assets

If don't have any data yet, BlenderProc offers download functionality for many datasets and freely available assets via the blenderproc CLI:

  • blenderproc download blenderkit <output_dir>: Downloads materials and models from blenderkit
  • blenderproc download cc_textures <output_dir>: Downloads textures from cc0textures.com.
  • blenderproc download haven <output_dir>: Downloads HDRIs, Textures and Models from polyhaven.com.
  • blenderproc download ikea <output_dir>: Downloads the IKEA dataset. (At the moment this dataset is not availabe! Use pix3d instead, as ikea is a subset of pix3D)
  • blenderproc download pix3d <output_dir>: Downloads the Pix3D dataset.
  • blenderproc download scenenet <output_dir>: Downloads the scenenet dataset.
  • blenderproc download matterport3d <output_dir>: Downloads the Matterport3D dataset.

Loading

BlenderProc provides various ways of importing your 3D models. All loaders can be accessed via the bproc.loader.load_* methods, which all return the list of loaded MeshObjects.

objs = bproc.loader.load_obj("mymesh.obj")

Filetype-specific loaders:

  • bproc.loader.load_obj: Loading .obj and .ply files.
  • bproc.loader.load_blend: Loading from .blend files.

Dataset-specific loaders:

  • bproc.loader.load_AMASS: Loads objects from the AMASS Dataset.
  • bproc.loader.load_bop_objs: Loads the 3D models of any BOP dataset and allows replicating BOP scenes.
  • bproc.loader.load_bop_scene: Loads any real BOP scenes using 3D models.
  • bproc.loader.load_bop_intrinsics: Loads intrinsics of specified BOP dataset.
  • bproc.loader.load_front3d: Loads 3D-Front scenes.
  • bproc.loader.load_ikea: Loads objects from the IKEA dataset.
  • bproc.loader.load_pix3d: Loads Pix3D objects.
  • bproc.loader.load_replica: Loads scenes from the Replica dataset.
  • bproc.loader.load_scenenet: Loads SceneNet scenes.
  • bproc.loader.load_shapenet: Loads objects from the ShapeNet dataset.
  • bproc.loader.load_suncg: Loads SUNCG scenes.
  • bproc.loader.load_matterport3d: Loads a Matterport3D scene.

Manipulating objects

As mentioned above, the loaders return a list of MeshObjects. Each of these objects can be manipulated in various ways:

Changing poses

Changing the location of an object can be done via:

obj.set_location([2, 0, 1])

Setting the rotation via euler angles:

obj.set_rotation_euler([np.pi, 0, 0])

Or setting the full pose via the 4x4 local-to-world transformation matrix:

obj.set_local2world_mat(tmat)

Or applying a 4x4 transformation matrix on the current pose:

obj.apply_T(tmat)

Custom properties

If you have any user-specific attributes that you want to assign to objects, you should use custom properties. In a key-value like fashion you can assign any desired value to a given object.

This is how you set a custom property:

obj.set_cp("my_prop", 42)

And that is how you retrieve one:

obj.get_cp("my_prop")

More information

For more information look at the reference manual of MeshObject.

Next tutorial: Configuring the camera