Lens

data/robot/robot.json

@@ -36,6 +36,22 @@
     "sunEnergy": 0.35,
     "areaEnergy": 120,
     "exposure": -1.5,
+    "lensDirt": true,
+    "lensDirtStrength": 0.08,
+    "dofEnabled": true,
+    "dofFStop": 16,
+    "arucoDust": false,
+    "arucoDustStrength": 0.00005,
+    "localizedBlur": false,
+    "localizedBlurStrength": 0.15,
+    "vignette": true,
+    "vignetteStrength": 0.08,
+
+    "sensorNoise": true,
+    "sensorNoiseStrength": 0.01,
+
+    "lensDistortion": true,
+    "lensDistortionStrength": 0.002,
     "materials": {
       "wood": {
         "baseColor": [0.72, 0.52, 0.33],

setup/generateSets/render_robot.py

@@ -59,6 +59,15 @@ def as_bool(value: Any, default: bool = False) -> bool:
 show_skeleton = as_bool(rendering_info.get("showSkeleton", False))
 show_markers = as_bool(rendering_info.get("showMarkers", False))
 
+lens_dirt = as_bool(rendering_info.get("lensDirt", False))
+lens_dirt_strength = float(rendering_info.get("lensDirtStrength", 0.08))
+
+dof_enabled = as_bool(rendering_info.get("dofEnabled", True))
+dof_fstop = float(rendering_info.get("dofFStop", 7.5))
+
+aruco_dust = as_bool(rendering_info.get("arucoDust", False))
+aruco_dust_strength = float(rendering_info.get("arucoDustStrength", 0.0005))
+
 state: Dict[str, float] = {k: 0.0 for k in STATE_KEYS}
 for source_name in ("defaultPosition", "recognized", "movements"):
     source = robot.get(source_name, {}) or {}
@@ -413,12 +422,22 @@ cam_pos = resolve_vec3_m(rendering_info.get("cameraPosition", [-400, -700, 300])
 cam_target = resolve_vec3_m(rendering_info.get("cameraTarget", [0, 0, 0]), state)
 cam_obj.location = cam_pos
 cam_data.lens = 50
+
+if dof_enabled:
+    cam_data.dof.use_dof = True
+    cam_data.dof.focus_distance = (mathutils.Vector(cam_target) - mathutils.Vector(cam_pos)).length
+    cam_data.dof.aperture_fstop = dof_fstop
+else:
+    cam_data.dof.use_dof = False
+
+
 cam_vec = mathutils.Vector(cam_target) - mathutils.Vector(cam_pos)
 if cam_vec.length == 0:
     cam_vec = mathutils.Vector((1, 0, 0))
 cam_obj.rotation_euler = cam_vec.to_track_quat("-Z", "Y").to_euler()
 scene.camera = cam_obj
 
+
 # ============================================================
 # EXPORT CAMERA CALIBRATION (.npz)
 # ============================================================
@@ -651,7 +670,34 @@ for link_name, link_info in links_def.items():
 
         tex.image = image
 
+        if aruco_dust:
+            noise = nodes.new("ShaderNodeTexNoise")
+            ramp = nodes.new("ShaderNodeValToRGB")
+            mix = nodes.new("ShaderNodeMixRGB")
+
+            noise.location = (-600, -220)
+            ramp.location = (-360, -220)
+            mix.location = (-120, -120)
+
+            noise.inputs["Scale"].default_value = 80.0
+            noise.inputs["Detail"].default_value = 1.0
+
+            ramp.color_ramp.elements[0].position = 0.49
+            ramp.color_ramp.elements[1].position = 0.51
+
+            mix.blend_type = "MIX"
+            mix.inputs["Fac"].default_value = aruco_dust_strength
+            mix.inputs["Color2"].default_value = (0.97, 0.97, 0.97, 1.0)
+            
+
+        if aruco_dust:
+            links.new(tex.outputs["Color"], mix.inputs["Color1"])
+            links.new(noise.outputs["Fac"], ramp.inputs["Fac"])
+            links.new(ramp.outputs["Color"], mix.inputs["Fac"])
+            links.new(mix.outputs["Color"], bsdf.inputs["Base Color"])
+        else:
             links.new(tex.outputs["Color"], bsdf.inputs["Base Color"])        
+            
         links.new(bsdf.outputs["BSDF"], out.inputs["Surface"])
 
         return mat