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finish data generate

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hofee
2025-09-05 19:18:37 +08:00
parent 21fbd5a323
commit 02440ceeb5
21 changed files with 17866 additions and 679 deletions
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12
data_gen_dependencies/data_generate.py
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@@ -1,15 +1,16 @@
import json
from pyboot.utils.log import Log
from data_gen_dependencies.omni_robot import IsaacSimRpcRobot
from data_gen_dependencies.omniagent import Agent
def generate_data(task_file, client_host, use_recording=True):
def generate_data(task_list, client_host, use_recording=True):
task_file = task_list[0]
task = json.load(open(task_file))
robot_cfg = task["robot"]["robot_cfg"]
stand = task["robot"]["stand"]
robot_position = task["robot"]["init_position"]
robot_rotation = task["robot"]["init_rotation"]
scene_usd = task["scene_usd"]
scene_usd = task["scene"]["scene_usd"]
robot = IsaacSimRpcRobot(robot_cfg=robot_cfg, scene_usd=scene_usd,
client_host=client_host,
@@ -19,12 +20,13 @@ def generate_data(task_file, client_host, use_recording=True):
render_semantic = False
if "render_semantic" in task["recording_setting"]:
render_semantic = task["recording_setting"]["render_semantic"]
agent.run(task_file=task_file,
agent.run(task_list=task_list,
camera_list=task["recording_setting"]["camera_list"],
use_recording=use_recording,
workspaces=task['scene']['function_space_objects'],
fps=task["recording_setting"]["fps"],
render_semantic=render_semantic,
)
print("job done")
Log.success("finish generating data")
robot.client.Exit()