 import blenderproc
from blenderproc.geometry.primitives import create_plane
from blenderproc.utils.object_utils import hide\_links\_and\_collision\_inertial\_objs
from blenderproc.utils.physics_utils import enable\_rigidbody
from blenderproc.utils.texture\_utils import load\_cc\_textures
from blenderproc.utils.pose\_utils import sample\_poses
from blenderproc.utils.camera\_utils import create\_bvh\_tree\_for\_camera\_obstacle\_checks
from blenderproc.utils.camera\_utils import generate\_camera\_poses
from blenderproc.utils.render\_utils import render\_pipeline
from blenderproc.utils.write\_utils import write\_bop

def sample\_6dof\_poses(num\_poses, object\_size):
# Implement the function to sample 6-DoF poses
pass

blenderproc.init(bop\_datasets\_parent\_dir="path/to/bop/datasets",
cc\_textures="path/to/cc/textures",
output\_dir="path/to/output/directory",
num\_scenes=10)

if not check\_if\_setup\_utilities\_are\_at\_the\_top():
raise Exception("Setup utilities should be at the top of the script.")

bop\_objects = load\_bop\_scene(datasets=["itodd", "tless"])
bop\_intrinsics = load\_bop\_intrinsics()

# Load CC textures
load\_cc\_textures()

# Create a room using primitive planes and enable rigidbody for these planes
room\_planes = []
for i in range(4):
plane = create\_plane(size=5, name="room\_plane{}".format(i))
enable\_rigidbody(plane, type="ACTIVE")
room\_planes.append(plane)

# Create a light plane
light\_plane = create\_plane(size=5, name="light\_plane")

# Create a point light
point\_light = get\_the\_one\_node\_with\_type("POINTLIGHT")

# Sample 6-DoF poses for bop objects
poses = sample\_poses(num\_poses, [min\_and\_max\_point(obj) for obj in bop\_objects])

# Randomize materials for bop objects
random\_sample\_materials\_for\_each\_obj(bop\_objects)

# Set physics for bop objects
for obj, pose in zip(bop\_objects, poses):
transform\_and\_colorize\_object(obj, pose, bop\_intrinsics[obj.name])

# Sample two light sources
sample\_poses\_on\_surface(point\_light, num\_samples=2)

# Assign a random cc texture to room planes
random\_texture = get\_type\_and\_value\_from\_mat("CCTEXTURE", "diffuse\_texture")[1]
for plane in room\_planes:
plane.data.materials[0].node\_tree.nodes["Principled BSDF"].inputs[7].default\_value = random\_texture

# Check collisions and simulate physics
simulate\_physics\_and\_fix\_final\_poses(bop\_objects + room\_planes, num\_simulation\_steps=100)

# Create a BVH tree for camera obstacle checks
create\_bvh\_tree\_for\_camera\_obstacle\_checks(bop\_objects + room\_planes, obstacle\_distance=0.3)

# Generate camera poses
camera\_poses = generate\_camera\_poses(num\_poses, bop\_intrinsics["camera1"])

# Render the pipeline and write data in bop format
render\_pipeline(depth\_rendering=True, antialiasing=False, max\_samples=128)
write\_bop(camera\_poses, bop\_intrinsics, "output\_file\_name")

# Disable rigidbody and hide objects after each scene
hide\_links\_and\_collision\_inertial\_objs()
for obj in bop\_objects + room\_planes:
obj.rigid\_body.type = "PASSIVE"
obj.hide\_render = True
obj.hide\_set(True)