import pybullet as pb
from pybullet_rendering import RenderingPlugin
from pybullet_rendering.render.panda3d import Renderer

client_id = pb.connect(pb.DIRECT)

# bind your renderer to pybullet
renderer = Renderer(MSAA_samples=4)
plugin = RenderingPlugin(client_id, renderer)

# render thru the standard pybullet API
w, h, rgba, depth, _ = pb.getCameraImage(w, h, projectionMatrix=..., viewMatrix=...)

from pybullet_rendering import BaseRenderer

class MyRenderer(BaseRenderer):

    def __init__(self):
        BaseRenderer.__init__(self)

    def update_scene(self, scene_graph, materials_only):
        """Update a scene using scene_graph description

        Arguments:
            scene_graph {SceneGraph} -- scene description
            materials_only {bool} -- update only shape materials
        """
        for uid, pb_node in scene_graph.nodes.items():
            "update nodes of your scene"

    def render_frame(self, scene_state, scene_view, frame):
        """Render a scene at scene_state with a scene_view settings

        Arguments:
            scene_state {SceneState} --  scene state, e.g. transformations of all objects
            scene_view {SceneView} -- view settings, e.g. camera, light, viewport parameters
            frame {FrameData} -- output image buffer
        """
        w, h = scene_view.viewport        
        if return_to_bullet:
            frame.color_img[:] = ... # np.uint8, (h,w,4)
            frame.depth_img[:] = ... # np.float32 (h,w)
            frame.mask_img[:] = ... # np.int32 (h,w)
            return True
            
        return False