def generate_data():


    robot = IsaacSimRpcRobot(robot_cfg=robot_cfg, scene_usd=task_info['scene']['scene_usd'],
                             client_host=args.client_host,
                             position=robot_position, rotation=robot_rotation, stand_type=stand["stand_type"],
                             stand_size_x=stand["stand_size_x"], stand_size_y=stand["stand_size_y"])
    # planner = ManipulationPlanner()
    agent = Agent(robot, None)
    render_semantic = False
    if "render_semantic" in task_info["recording_setting"]:
        render_semantic = task_info["recording_setting"]["render_semantic"]
    agent.run(task_folder=task_folder,
              camera_list=task_info["recording_setting"]["camera_list"],
              use_recording=args.use_recording,
              workspaces=task_info['scene']['function_space_objects'],
              fps=task_info["recording_setting"]["fps"],
              render_semantic=render_semantic,

              )
    print("job done")
    robot.client.Exit()