To find a bug or to understand what the pipeline is doing, it is possible to run BlenderProc from inside Blender.
Beforehand the config should have been run at least once via the run.py script to make sure the correct blender version and the required additional python packages are installed.
To start the pipeline from inside Blender, the src/debug.py script has to be opened and executed in Blender's scripting tab:
Per default this loads and runs the config file located in examples/debugging/config.yaml.
As blender does not allow passing arguments to the script, all paths need to be defined inside the configuration file.