BlenderProc
Blender pipeline for photorealistic training image generation
...Usually, you will run your script multiple times, each time producing a new scene and rendering e.g. 5-20 images from it. With a little more experience, it is also possible to change scenes during a single script call, read here how this is done. As blenderproc runs in blenders separate python environment, debugging your blenderproc script cannot be done in the same way as with any other python script.