30 lines
1.3 KiB
Python
30 lines
1.3 KiB
Python
import json
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from data_gen_dependencies.omni_robot import IsaacSimRpcRobot
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from data_gen_dependencies.omniagent import Agent
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def generate_data(task_file, client_host, use_recording=True):
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task = json.load(open(task_file))
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robot_cfg = task["robot"]["robot_cfg"]
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stand = task["robot"]["stand"]
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robot_position = task["robot"]["init_position"]
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robot_rotation = task["robot"]["init_rotation"]
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scene_usd = task["scene_usd"]
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robot = IsaacSimRpcRobot(robot_cfg=robot_cfg, scene_usd=scene_usd,
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client_host=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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agent = Agent(robot)
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render_semantic = False
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if "render_semantic" in task["recording_setting"]:
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render_semantic = task["recording_setting"]["render_semantic"]
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agent.run(task_file=task_file,
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camera_list=task["recording_setting"]["camera_list"],
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use_recording=use_recording,
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workspaces=task['scene']['function_space_objects'],
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fps=task["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() |