anyanything_envs

Procedural environments for drone navigation: obstacle layouts, realistic Blender places built around them, and Infinigen nature scenes turned into flight boxes. Each generator writes a scene and its collision cloud in the same format, so a planner, a labeller or a policy can fly any of them.

Generator	What it makes	Runs in
envgen.primitives	Primitive obstacle patches: 22 single-obstacle families (walls, slots, windows, floating boxes and bars, rooms, rings, tree stands, clutter, wires...), corridors of several obstacles (tier B) and arenas mixing many (tier C).	plain Python (numpy, scipy)
blender/	Blender courses: a patch rebuilt as meshes with the same geometry and dressed as a real place, either one of 4 themes or one of 13 place kits (2 indoor). Asset libraries from Poly Haven and ambientCG (CC0) plus a curated Objaverse slice.	Blender 5.2
infinigen/	Infinigen nature scenes (forest, plain, river, canyon, cliff, mountain, desert, arctic, snowy mountain, coast; caves, flown inside) generated as a fully populated square flight box, with collision cloud, flight-height plan and drone-eye renders in four lighting looks; optional Wenshan-style floating obstacles from Infinigen's procedural asset factories. Infinigen-Indoors houses (a few furnished rooms, one storey) as indoor flight boxes.	Infinigen 1.x (bpy 4.2)

Wenshan's static Blender scenes are not part of this repo (they are hers).

Quick start

python -m venv .venv && . .venv/bin/activate && pip install -e .     # numpy, scipy, scikit-fmm

# 1. a primitive patch and its cloud
python scripts/make_spec.py --family wall_slot --seed 2000 --out out/wall_slot_2000/spec.json
python - <<'EOF'
from envgen.primitives import load_spec, patch_cloud
pts, region = patch_cloud(load_spec("out/wall_slot_2000/spec.json"))   # region -1 = floor grid
print(pts.shape)
EOF

# 2. the same patch as a parking garage (Blender 5.2; the v2 asset library, see "Assets")
blender -b --factory-startup -P blender/build_course.py -- --spec out/wall_slot_2000/spec.json \
    --kit garage --assets $BLENDER_LIBRARY --out out/wall_slot_2000/garage --cpu --preview

# 3. a batch: 6 scenes in each indoor kit, built 4 at a time, gated
python blender/batch.py plan3 --batch out/indoor --per-kit 6 --kits garage warehouse
python blender/batch.py build --batch out/indoor --cpu --workers 4 --threads 6 --allow-dirty
python blender/batch.py gates --batch out/indoor --allow-dirty

# 4. an Infinigen forest as a 30 x 30 m flight box (Infinigen installed, see docs/infinigen.md)
python infinigen/nature_box.py --seed 1 --out out/forest_1 --scene-type forest --design-dist 8 --no-monocots \
    --configs fast_terrain_assets.gin
python infinigen/box_views.py --scene out/forest_1/scene/scene.blend --box out/forest_1/box.json \
    --out out/forest_1/views --n-views 3 --samples 32

# 5. an Infinigen-Indoors house (a few furnished rooms) as an indoor flight box
python infinigen/indoor_box.py --seed 1 --out out/house_1
python infinigen/indoor_views.py --scene out/house_1/scene/scene.blend --box out/house_1/box.json \
    --out out/house_1/views --n-views 3 --samples 32

Place kits

Kit	Indoor	What it builds
garage	yes	parking garage level: columns, painted bays, parked cars, lamps and services under a concrete ceiling
warehouse	yes	distribution warehouse: pallet racking aisles, loads, dock doors, high-bay lamps, forklifts
street		city street: building canyon with shopfronts, pavements, parked cars, lamps, trees, markings
alley		back alley: narrow lane between building backs, fire escapes, dumpsters, pipes, cables overhead
port		container terminal: stacked ISO containers in blocks, painted lanes, light masts
industrial		process plant / factory yard: pipe racks and bridges, tanks, sheds, process frames, yard equipment
construction		building site: concrete frame + scaffolding, stacked materials, cabins, fences, cranes, muddy ground
farm		farmyard: barn and pole shed, paddock fence, hay bales, wagon/tractor, fields and tree lines
forest		woodland: bark trunks under real crowns, undergrowth, logs, mossy rock; conifer/broadleaf/birch/burnt/snow
park		city park: lawns, paths, trees, hedges, benches, lamps, fountain/statue, playground; city beyond
ruins		stone ruins: broken walls, arcades, columns, rubble and overgrowth; cloister, castle, abbey or temple
backyard		suburban backyard: house rear with patio, lawn, board fence, shed, trampoline, swings, washing line
coast		rocky harbour shore: beach/shingle/cove/harbour, sea with foam, pier on pilings, boats, huts, nets

A kit is one module under blender/kits/ with NAME, INDOOR, DESCRIPTION and build(ctx); kits/__init__.py has the contract. The patch's primitives are always rebuilt with their exact geometry (the obstacle the patch was drawn for is really there); the kit chooses what they look like and adds structure, props and scenery around them. --variant picks a variation, --kit-args passes kit options.

Assets

The Blender courses draw on asset libraries you fetch once (nothing is vendored here):

python blender/fetch_library.py --root $BLENDER_LIBRARY            # v2 library for the kits: Poly Haven + ambientCG
python blender/fetch_objaverse.py index|select|fetch|finalise      # optional curated Objaverse slice (see its docstring)
blender -b -P blender/inspect_assets.py -- --root $BLENDER_LIBRARY # measure and catalogue every model
python blender/assets.py --root $BLENDER_ASSETS --theme yard       # v1 library for the four themes

Poly Haven and ambientCG are CC0. Objaverse items keep their own licences, which the fetcher records per item. Default locations, each overridable: $BLENDER (Blender 5.2 binary), $BLENDER_LIBRARY (~/.cache/envgen/library, the kits' v2 library, ~37 GB with the Objaverse slice), $BLENDER_ASSETS (~/.cache/envgen/assets_v1, the themes' v1 library). $SUPERFLY_BAND selects the altitude band the planner and the cloud top follow (envgen/band.py; default v9).

Outputs

Every course directory holds spec.json (the patch), cloud.npz (points float64, region int16: obstacle samples one per 10 cm voxel, region 0 and up; floor grid at 25 cm, region -1), course.blend (packed with --pack) and course.json (what was placed, materials, HDRI, provenance). Infinigen boxes write box.json, scene/scene.blend and, from box_views.py, views/cloud.npz with per-height-slice occupancy in band.json; indoor houses (indoor_box.py, indoor_views.py) write the same files, with the rooms in box.json and occupancy over the floor. Details: docs/formats.md.

Tests

pytest tests/test_primitives.py      # every family reproduces the original specs and clouds byte for byte

Where the code came from

See PROVENANCE.md: every file, the repository and commit it was copied from, and what was changed.