optimize data_gen

data_gen_dependencies/manip_solver.py

@@ -346,8 +346,6 @@ def select_obj(objects, stages, robot):
         ik_success, _ = robot.solve_ik(grasp_poses, ee_type='gripper', arm=arm, type='Simple')
         grasp_poses_canonical, grasp_poses = grasp_poses_canonical[ik_success], grasp_poses[ik_success]
         grasp_widths = grasp_widths[ik_success]
-        print('%s, %s, Filtered grasp pose with isaac-sim IK: %d/%d' % (action, passive_obj_id, grasp_poses.shape[0],
-                                                                        ik_success.shape[0]))
 
         if len(grasp_poses) == 0:
             print(action, 'No grasp_gripper_pose can pass Isaac IK')

data_gen_dependencies/omni_robot.py

@@ -249,7 +249,7 @@ class IsaacSimRpcRobot(Robot):
         """
         type = content["type"]
         arm_name = content.get('arm', "right")
-        print(arm_name)
+        #print(arm_name)
         if type == "matrix":
             if isinstance(content["matrix"], list):
                 content["matrix"] = np.array(content["matrix"])

data_gen_dependencies/omniagent.py

@@ -419,7 +419,5 @@ class Agent(BaseAgent):
 
             task_info_saved = task_info.copy()
             self.robot.client.SendTaskStatus(success, fail_stage_step)
-            if success:
-                print(">>>>>>>>>>>>>>>> Success!!!!!!!!!!!!!!!!")
 
         return True

runners/data_generator.py

@@ -18,3 +18,5 @@ class DataGenerator(Runner):
         for task_template_name, task_list in self.target_tasks.items():
             Log.info(f"Generating from template: {task_template_name} | tasks number: {len(task_list)}")
             generate_data(task_list, self.server_url)
+            Log.warning("multi task templates generation is not implemented yet, stop after one template generation.")
+            break