23 lines
1018 B
Python
23 lines
1018 B
Python
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def generate_data():
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robot = IsaacSimRpcRobot(robot_cfg=robot_cfg, scene_usd=task_info['scene']['scene_usd'],
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client_host=args.client_host,
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position=robot_position, rotation=robot_rotation, stand_type=stand["stand_type"],
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stand_size_x=stand["stand_size_x"], stand_size_y=stand["stand_size_y"])
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# planner = ManipulationPlanner()
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agent = Agent(robot, None)
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render_semantic = False
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if "render_semantic" in task_info["recording_setting"]:
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render_semantic = task_info["recording_setting"]["render_semantic"]
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agent.run(task_folder=task_folder,
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camera_list=task_info["recording_setting"]["camera_list"],
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use_recording=args.use_recording,
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workspaces=task_info['scene']['function_space_objects'],
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fps=task_info["recording_setting"]["fps"],
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render_semantic=render_semantic,
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)
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print("job done")
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robot.client.Exit() |