sim on omni_test
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@ -3,7 +3,7 @@ bt_sim:
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gripper_force: 100
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# scene: random
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# scene: manual
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scene: $(find active_grasp)/cfg/sim/challenging_scene_1.yaml
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scene: $(find active_grasp)/cfg/sim/scene_0.yaml
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hw:
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roi_calib_file: $(find active_grasp)/cfg/hw/T_base_tag.txt
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12
cfg/old_sim/challenging_scene_1.yaml
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12
cfg/old_sim/challenging_scene_1.yaml
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@ -0,0 +1,12 @@
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center: [0.45, 0.0, 0.0]
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q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
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objects:
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- object_id: active_perception/omni_objects/blender_cabinet/blender_cabinet_003
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xyz: [0.2, 0.0, 0.0]
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rpy: [0, 0, 110]
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scale: 1.0
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- object_id: active_perception/omni_objects/bowl/bowl_001
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xyz: [0.1, -0.15, 0.2]
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rpy: [0, 0, 0]
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scale: 1.0
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12
cfg/old_sim/custom_scene_1.yaml
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12
cfg/old_sim/custom_scene_1.yaml
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center: [0.45, 0.0, 0.25]
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q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
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objects:
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- object_id: ycb/006_mustard_bottle
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xyz: [0.0, +0.1, 0.1]
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rpy: [0, 0, 0]
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scale: 0.8
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- object_id: active_perception/blender_cabinet
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xyz: [-0.1, -0.2, 0.02]
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rpy: [0, 0, 0]
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scale: 1.0
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44
cfg/old_sim/scene_0.yaml
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44
cfg/old_sim/scene_0.yaml
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@ -0,0 +1,44 @@
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center: [0.8, 0.0, 0.0]
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q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
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objects:
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- object_id: active_perception/omni_objects/chair/chair_028
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xyz: [-0.0068908389657735825, 0.005315959919244051, 0.22069703042507172]
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rpy: [1.7886940604406145, 1.01981032172009, 89.94713459186843]
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scale: 1.0
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- object_id: active_perception/omni_objects/banana/banana_039
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xyz: [0.7659764885902405, 0.13244639337062836, -0.04103884473443031]
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rpy: [-159.92582804293914, -85.42660168404156, -103.58175651841792]
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scale: 1.0
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- object_id: active_perception/omni_objects/biscuit/biscuit_114
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xyz: [0.008980791084468365, 0.07558994740247726, 0.2308768779039383]
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rpy: [11.011894411740208, 11.353458522097622, 152.3866433619816]
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scale: 1.0
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- object_id: active_perception/omni_objects/biscuit/biscuit_115
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xyz: [0.04214617237448692, 0.10601552575826645, 0.23250775039196014]
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rpy: [83.20043939487029, -10.314548853298982, -177.60985707120096]
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scale: 1.0
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- object_id: active_perception/omni_objects/biscuit/biscuit_120
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xyz: [0.11285210400819778, -0.07488349825143814, 0.22921115159988403]
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rpy: [-89.49948184622092, 4.498975090794982, -9.099756342937475]
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scale: 1.0
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- object_id: active_perception/omni_objects/shrimp/shrimp_041
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xyz: [0.15021200478076935, 0.09884239733219147, 0.23815606534481049]
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rpy: [8.284258796440458, 79.99516936338651, 110.00644636249444]
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scale: 1.0
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- object_id: active_perception/omni_objects/tomato/tomato_030
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xyz: [-0.04284593090415001, 0.041140712797641754, 0.256274938583374]
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rpy: [-9.592290990627584, -68.86805058250192, -125.56497138835732]
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scale: 1.0
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- object_id: active_perception/omni_objects/apple/apple_060
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xyz: [-0.008709152229130268, -0.022433513775467873, 0.23665982484817505]
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rpy: [-53.995144869912664, -29.051497741486138, 168.64676150555815]
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scale: 1.0
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@ -1,16 +0,0 @@
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center: [0.45, 0.0, 0.25]
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q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
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objects:
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- object_id: ycb/006_mustard_bottle
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xyz: [0.0, 0.0, 0.1]
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rpy: [0, 0, 0]
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scale: 0.8
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- object_id: active_perception/box
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xyz: [-0.1, -0.15, 0.01]
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rpy: [0, 0, 0]
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scale: 2.0
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- object_id: active_perception/box
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xyz: [-0.1, -0.15, 0.05]
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rpy: [0, 45, 0]
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scale: 1.5
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44
cfg/sim/scene_0.yaml
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44
cfg/sim/scene_0.yaml
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@ -0,0 +1,44 @@
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center: [0.45, 0.0, 0.0]
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q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
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objects:
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- object_id: active_perception/omni_objects/blender/blender_cabinet_009
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xyz: [4.64986078441143e-06, 1.1311843991279602e-05, -0.016544461250305176]
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rpy: [-3.890340757683333e-06, 0.03720095823628773, 89.91796798989898]
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scale: 1.0
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- object_id: active_perception/omni_objects/apple/apple_060
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xyz: [-0.3377646803855896, 0.11278793215751648, 0.11467006057500839]
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rpy: [118.07257095329169, -17.721830472813895, 165.24649291958784]
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scale: 1.0
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- object_id: active_perception/omni_objects/pear/pear_037
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xyz: [-0.3260464072227478, 0.03416014835238457, 0.12631379067897797]
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rpy: [-48.22722583509287, 64.63320766249008, 47.876707855121765]
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scale: 1.0
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- object_id: active_perception/omni_objects/pear/pear_035
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xyz: [-0.25687548518180847, -0.034766729921102524, 0.10207981616258621]
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rpy: [-94.59622371415126, 0.37623224849990594, -92.33892377028123]
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scale: 1.0
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- object_id: active_perception/omni_objects/apple/apple_063
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xyz: [0.025610506534576416, 0.08303676545619965, 0.11088347434997559]
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rpy: [-93.34928774277378, 39.69653614014154, -4.526670839259127]
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scale: 1.0
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- object_id: active_perception/omni_objects/garlic/garlic_033
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xyz: [-0.08226469159126282, 0.0870445966720581, 0.09662999212741852]
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rpy: [-90.38067148609004, 7.495002041739577, -5.102582322216595]
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scale: 1.0
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- object_id: active_perception/omni_objects/bottle/bottle_061
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xyz: [0.22411133348941803, -0.055237896740436554, 0.09414366632699966]
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rpy: [-90.1703276971415, 7.695877525082848, -0.09848045365107609]
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scale: 1.0
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- object_id: active_perception/omni_objects/waffle/waffle_042
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xyz: [-0.1430458426475525, -0.016264157369732857, 0.13158491253852844]
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rpy: [-92.35109269914692, -1.3781727753172388, -0.8499572253493096]
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scale: 1.0
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29
cfg/sim/scene_1.yaml
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cfg/sim/scene_1.yaml
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@ -0,0 +1,29 @@
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center: [0.45, 0.0, 0.0]
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q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
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objects:
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- object_id: active_perception/omni_objects/table/table_027
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xyz: [0.0010374169796705246, -0.0069223493337631226, 0.5168523788452148]
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rpy: [-0.0024637965400675, -0.1442944922368261, 89.14276603175097]
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scale: 1.0
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- object_id: active_perception/omni_objects/egg/egg_046
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xyz: [-0.12078018486499786, -0.10749435424804688, 0.8585910797119141]
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rpy: [-89.61072501969137, 4.587986949850374, -10.273497129618452]
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scale: 1.0
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- object_id: active_perception/omni_objects/biscuit/biscuit_116
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xyz: [0.03019426204264164, 0.28699105978012085, 0.8501646518707275]
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rpy: [133.91096750918834, -1.6565090561062554, -3.4573572359079443]
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scale: 1.0
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- object_id: active_perception/omni_objects/egg/egg_040
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xyz: [-0.09473028033971786, 0.4400838017463684, 0.8657305240631104]
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rpy: [-89.95190211800964, 15.775554328222162, -12.971046206785081]
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scale: 1.0
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- object_id: active_perception/omni_objects/apple/apple_061
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xyz: [0.07441169768571854, 0.46750664710998535, 0.8783947825431824]
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rpy: [-74.468997277914, 66.64487787995446, 8.405348930148477]
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scale: 1.0
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39
cfg/sim/scene_10.yaml
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39
cfg/sim/scene_10.yaml
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@ -0,0 +1,39 @@
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center: [0.45, 0.0, 0.0]
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q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
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objects:
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- object_id: active_perception/omni_objects/table/table_027
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xyz: [0.00011250749230384827, -0.0012790709733963013, 0.42605704069137573]
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rpy: [-0.005765722830020446, -0.0164106630230235, 89.84075197412332]
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scale: 1.0
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- object_id: active_perception/omni_objects/shrimp/shrimp_039
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xyz: [-0.034191351383924484, 0.3968554139137268, 0.7598503828048706]
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rpy: [-179.61877980675678, -84.29259657733192, 124.80951678530789]
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scale: 1.0
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- object_id: active_perception/omni_objects/egg/egg_044
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xyz: [0.10647960752248764, 0.29765817523002625, 0.7743821144104004]
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rpy: [-88.48399247170794, -7.115042097096817, -14.620474827238613]
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scale: 1.0
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- object_id: active_perception/omni_objects/biscuit/biscuit_122
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xyz: [0.11082173883914948, -0.25146540999412537, 0.7569476962089539]
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rpy: [-129.7921183125197, 1.6486297165682808, -1.3512043823043858]
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scale: 1.0
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- object_id: active_perception/omni_objects/banana/banana_045
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xyz: [0.1866931915283203, -0.22537861764431, 0.7763093113899231]
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rpy: [-143.35303937178753, -15.124144186236883, 97.76556084699185]
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scale: 1.0
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- object_id: active_perception/omni_objects/biscuit/biscuit_126
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xyz: [-0.15704573690891266, -0.39097821712493896, 0.7579376697540283]
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rpy: [-89.96856762707291, -2.4243436852019573, -1.2532473273119482]
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scale: 1.0
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- object_id: active_perception/omni_objects/tomato/tomato_030
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xyz: [0.0631551444530487, -0.03531681001186371, 0.7705153822898865]
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rpy: [-55.30420854250822, 30.343779809461168, 112.46407656838485]
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scale: 1.0
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44
cfg/sim/scene_100.yaml
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44
cfg/sim/scene_100.yaml
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@ -0,0 +1,44 @@
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center: [0.45, 0.0, 0.0]
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q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
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objects:
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- object_id: active_perception/omni_objects/picnic/picnic_basket_010
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xyz: [-0.0024944983888417482, -0.003906389698386192, 0.06587576121091843]
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rpy: [-0.12304522966534465, 1.9469665651636454, 86.95744150032412]
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scale: 1.0
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- object_id: active_perception/omni_objects/biscuit/biscuit_105
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xyz: [-0.0017132123466581106, -0.016988083720207214, 0.018578030169010162]
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rpy: [-91.62953209424012, -4.144386653707507, 0.36326617994296895]
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scale: 1.0
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- object_id: active_perception/omni_objects/shrimp/shrimp_042
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xyz: [0.0078016603365540504, 0.02739977091550827, 0.02571101114153862]
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rpy: [91.67900194892682, -45.54381128981898, 76.60770464363894]
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scale: 1.0
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- object_id: active_perception/omni_objects/egg/egg_047
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xyz: [0.04295744001865387, -0.023585429415106773, 0.02402724325656891]
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rpy: [-164.73216399910453, -34.36496509851416, -19.224443539094104]
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scale: 1.0
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- object_id: active_perception/omni_objects/cup/cup_039
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xyz: [-0.03366504982113838, -0.03810783475637436, 0.027493562549352646]
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rpy: [-121.91782759320381, -57.53090093233096, 2.823489424479598]
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scale: 1.0
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- object_id: active_perception/omni_objects/ginger/ginger_040
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xyz: [-0.007851741276681423, -0.04602106660604477, 0.06372369825839996]
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rpy: [-74.6432906656066, 65.79201984813415, 34.65958562028854]
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scale: 1.0
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- object_id: active_perception/omni_objects/banana/banana_037
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xyz: [0.04913321137428284, 0.02927616611123085, 0.041648078709840775]
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rpy: [-100.56627916909419, 50.3191140958404, -13.33854832260954]
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scale: 1.0
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- object_id: active_perception/omni_objects/walnut/walnut_038
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xyz: [0.06725450605154037, -0.007227347232401371, 0.023078378289937973]
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rpy: [162.88895335643622, 64.84908063700206, 22.421616736296286]
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scale: 1.0
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44
cfg/sim/scene_101.yaml
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cfg/sim/scene_101.yaml
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center: [0.45, 0.0, 0.0]
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q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
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objects:
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- object_id: active_perception/omni_objects/chair/chair_026
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xyz: [-0.009905957616865635, -0.0006897700950503349, 0.2330494225025177]
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rpy: [0.10565063351332064, 1.918193594023763, 89.85146259900137]
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scale: 1.0
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- object_id: active_perception/omni_objects/ginger/ginger_039
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xyz: [0.02515360713005066, -0.06371907144784927, 0.27924156188964844]
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rpy: [-24.917503569186394, -17.108886197782336, 3.671548893435011]
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scale: 1.0
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- object_id: active_perception/omni_objects/popcorn/popcorn_037
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xyz: [0.03158880025148392, -0.033288054168224335, 0.0037636063061654568]
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rpy: [51.80609796168332, 19.66309287247925, -24.55551874939152]
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scale: 1.0
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- object_id: active_perception/omni_objects/shrimp/shrimp_045
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xyz: [-0.1293104588985443, -0.0777326375246048, 0.0003228990244679153]
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rpy: [-108.9905414383184, 75.30141461130232, 94.38432988044723]
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scale: 1.0
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- object_id: active_perception/omni_objects/biscuit/biscuit_120
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xyz: [0.04060060530900955, 0.0793246328830719, 0.2613307535648346]
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rpy: [-89.61567032347179, -5.380350667912583, -3.2477991654026406]
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scale: 1.0
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- object_id: active_perception/omni_objects/apple/apple_060
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xyz: [0.10124217718839645, -0.04856496304273605, 0.02158781886100769]
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rpy: [-152.42669250550992, -11.06313485369464, 165.87371771072304]
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scale: 1.0
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- object_id: active_perception/omni_objects/shrimp/shrimp_043
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xyz: [0.09215854853391647, -0.021680809557437897, 0.27092188596725464]
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rpy: [-93.7090785739682, -81.5059436185168, -93.72407821248427]
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scale: 1.0
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- object_id: active_perception/omni_objects/banana/banana_037
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xyz: [-0.06733741611242294, -0.047576259821653366, 0.2778187692165375]
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rpy: [-110.97518895656954, 78.22997206690246, -97.38946941123596]
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scale: 1.0
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44
cfg/sim/scene_102.yaml
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44
cfg/sim/scene_102.yaml
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center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/blender/blender_cabinet_001
|
||||
xyz: [-2.6728957891464233e-07, -2.7567148208618164e-07, 0.01100003719329834]
|
||||
rpy: [2.0529940609502636e-05, 3.0978402476954096e-06, 90.00000482967312]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_031
|
||||
xyz: [-0.4107942283153534, 0.0902542844414711, 0.14241814613342285]
|
||||
rpy: [-89.33639203552369, 15.883176163457069, -1.5076619016991715]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/corn/corn_030
|
||||
xyz: [0.39207226037979126, 0.056214794516563416, 0.8429948687553406]
|
||||
rpy: [-86.27104900788325, 3.7716465405938813, 0.04043558145760519]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_053
|
||||
xyz: [0.07020067423582077, -0.13497541844844818, 0.1652325540781021]
|
||||
rpy: [-101.41366276932084, 20.6640990621566, -0.786795717175947]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_050
|
||||
xyz: [0.7563337683677673, -0.07127586007118225, 0.849878191947937]
|
||||
rpy: [-88.83264034575734, 9.46554479625082, -4.619541030378563]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lemon/lemon_031
|
||||
xyz: [-0.6651905179023743, 0.1674843728542328, 0.8447174429893494]
|
||||
rpy: [-93.65013387027143, 1.4060886536411012, -16.02877224053853]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/pear/pear_037
|
||||
xyz: [-0.13597410917282104, -0.10685648024082184, 0.18147332966327667]
|
||||
rpy: [-88.13234660300824, -15.377763186981891, -22.20993254053376]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_046
|
||||
xyz: [0.7706959247589111, -0.11772944033145905, 0.8380754590034485]
|
||||
rpy: [18.397259543131355, 70.79036388378296, 88.00302602942484]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_103.yaml
Normal file
44
cfg/sim/scene_103.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/picnic/picnic_basket_010
|
||||
xyz: [-0.0024944983888417482, -0.003906389698386192, 0.06587576866149902]
|
||||
rpy: [-0.12304522966534465, 1.9469665651636454, 86.95744150032412]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_051
|
||||
xyz: [-0.03565649688243866, -0.027002744376659393, 0.04311561957001686]
|
||||
rpy: [44.920807568735306, -69.21746591190598, 164.30223826647972]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_130
|
||||
xyz: [0.02402811497449875, -0.03016546368598938, 0.02060978300869465]
|
||||
rpy: [-66.06407041242423, 7.070566244688002, -1.0044304524398318]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/pear/pear_038
|
||||
xyz: [0.020883265882730484, 0.013774196617305279, 0.03483130782842636]
|
||||
rpy: [-46.86527673938769, 64.71537917738296, -0.39888673259337065]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/popcorn/popcorn_040
|
||||
xyz: [-0.023939985781908035, 0.021399596706032753, 0.02319473959505558]
|
||||
rpy: [-86.43398327985497, 9.880233697331272, 18.84018949600843]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lipstick/lipstick_030
|
||||
xyz: [-0.0016902623465284705, 0.01938779279589653, 0.020651204511523247]
|
||||
rpy: [76.76383601228487, -86.00338334115418, -124.36933770656307]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bottle/bottle_061
|
||||
xyz: [0.0017645333427935839, 0.05016095191240311, 0.2360154092311859]
|
||||
rpy: [-89.97572413691532, -2.0726354818293253, 3.0497069010541127]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_030
|
||||
xyz: [0.06601888686418533, -0.013407288119196892, 0.02284243144094944]
|
||||
rpy: [-40.978735617739034, -57.85080020063397, 55.8223080631768]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_104.yaml
Normal file
39
cfg/sim/scene_104.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/table/table_028
|
||||
xyz: [-2.1792948246002197e-07, -1.7881393432617188e-07, 0.28144800662994385]
|
||||
rpy: [6.788234032589336e-05, 7.058635843230175e-06, 90.00002414836695]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lemon/lemon_031
|
||||
xyz: [-0.11238491535186768, -0.29110708832740784, 0.40288031101226807]
|
||||
rpy: [-90.14138460223431, 4.639842107122369, -5.749619659435259]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_031
|
||||
xyz: [0.14486131072044373, 0.31995612382888794, 0.2693308889865875]
|
||||
rpy: [-92.92520664835087, 14.488863585937086, -1.4335462201512037]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/walnut/walnut_038
|
||||
xyz: [0.1407473087310791, 0.1130443885922432, 0.2629290819168091]
|
||||
rpy: [-91.29289687749832, -4.759997338220971, 0.28382326885762194]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_041
|
||||
xyz: [0.09997913986444473, 0.1553095281124115, 0.38334646821022034]
|
||||
rpy: [129.55259844948358, -77.76462111814575, 103.28967183022547]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/tomato/tomato_029
|
||||
xyz: [0.0063094487413764, -0.17468899488449097, 0.4094352126121521]
|
||||
rpy: [-112.40676696495292, -52.80353597771883, 29.55512218670995]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_043
|
||||
xyz: [-0.08268480002880096, 0.08311505615711212, 0.3887885510921478]
|
||||
rpy: [-90.85103621103842, -10.908254380946408, -4.4444599466685695]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_105.yaml
Normal file
44
cfg/sim/scene_105.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/blender/blender_cabinet_009
|
||||
xyz: [6.891787052154541e-06, 1.5517696738243103e-05, 0.00045686960220336914]
|
||||
rpy: [1.6788918836552825e-06, 0.03731580337578944, 89.91734496749237]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_041
|
||||
xyz: [-0.10910510271787643, 0.10729944705963135, 0.11240816116333008]
|
||||
rpy: [-162.49678286996888, -78.53272679518203, 82.94292238710514]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_028
|
||||
xyz: [-0.06307639926671982, -0.12995965778827667, 0.11220840364694595]
|
||||
rpy: [31.146830687038555, 83.65894825513347, 138.8156537860419]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/banana/banana_044
|
||||
xyz: [0.1494470089673996, 0.01827867701649666, 1.2300584316253662]
|
||||
rpy: [-52.347364605171144, 16.720347259772097, 88.47557167932372]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_049
|
||||
xyz: [-0.26583346724510193, -0.028006605803966522, 1.2484166622161865]
|
||||
rpy: [-87.3751457551071, -11.416569488122002, -20.821281059150966]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/banana/banana_043
|
||||
xyz: [0.17818380892276764, -0.08549604564905167, 0.12484631687402725]
|
||||
rpy: [41.74112747158215, 79.86501440737737, -86.57564221435689]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lemon/lemon_030
|
||||
xyz: [-0.11728330701589584, -0.06884848326444626, 1.232861042022705]
|
||||
rpy: [-90.47429762628788, 15.267412822311384, -1.5126557778150067]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/corn/corn_031
|
||||
xyz: [0.07551814615726471, -0.02466253750026226, 1.2308120727539062]
|
||||
rpy: [-91.22501206978806, -23.851453919668923, -3.531668249716107]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_106.yaml
Normal file
44
cfg/sim/scene_106.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/chair/chair_029
|
||||
xyz: [-0.0019391891546547413, -0.015277396887540817, 0.4544247090816498]
|
||||
rpy: [0.2239712429703007, 0.0808951955947846, 88.35216530102127]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_124
|
||||
xyz: [0.072306789457798, 0.13968698680400848, 0.44375982880592346]
|
||||
rpy: [-88.96694637204037, -6.1536267466684915, -0.7007115323785396]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/tomato/tomato_028
|
||||
xyz: [0.11047247052192688, 0.10364166647195816, 0.45185586810112]
|
||||
rpy: [-79.83948830203519, 66.82905945009367, 74.45203137745074]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_125
|
||||
xyz: [0.005631973501294851, -0.04048342630267143, 0.4560290277004242]
|
||||
rpy: [-89.41532423840115, 4.682454680281701, 12.367874190554257]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/walnut/walnut_037
|
||||
xyz: [0.010870026424527168, -0.09446109086275101, 0.4484155774116516]
|
||||
rpy: [141.01997428445424, 32.87610148190774, 11.773789091949096]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lipstick/lipstick_030
|
||||
xyz: [0.21755225956439972, -0.03081425465643406, 0.43744444847106934]
|
||||
rpy: [-90.02986366632285, -1.6535426219229241, -0.0733929247671643]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_045
|
||||
xyz: [0.1342540681362152, -0.04873281717300415, 0.43751269578933716]
|
||||
rpy: [87.41342310789159, -88.35018176689417, -172.54719931161043]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_120
|
||||
xyz: [0.14889824390411377, -0.14818398654460907, 0.43198561668395996]
|
||||
rpy: [-90.50479996249767, -4.6655009716624525, -1.18672014805693]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_107.yaml
Normal file
44
cfg/sim/scene_107.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/table/table_028
|
||||
xyz: [-4.254281520843506e-06, 6.631016731262207e-07, 0.2213040590286255]
|
||||
rpy: [-0.0005197419231135181, -3.073755413403383e-05, 90.00000482981197]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bottle/bottle_060
|
||||
xyz: [-0.02701495587825775, 0.35277172923088074, 0.3404015898704529]
|
||||
rpy: [-92.33684538347731, 57.3332092962298, -2.4408311590902088]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_047
|
||||
xyz: [0.01976870559155941, 0.07136229425668716, 0.3251332938671112]
|
||||
rpy: [-107.05159002008841, 37.796734358869514, -20.35547439476776]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/apple/apple_064
|
||||
xyz: [0.13101667165756226, 0.17899827659130096, 0.354388952255249]
|
||||
rpy: [-104.32469331582705, -57.97914680136739, 49.971467014842034]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/apple/apple_061
|
||||
xyz: [0.02412300743162632, 0.21945181488990784, 0.34180691838264465]
|
||||
rpy: [-94.71711987404507, 73.96349759950768, -10.624371453873387]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_056
|
||||
xyz: [-0.04369840398430824, 0.0060419123619794846, 0.3155771493911743]
|
||||
rpy: [-89.95551723619214, 4.133937177067006, 3.239171773553279]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/cup/cup_037
|
||||
xyz: [-0.11593860387802124, -0.0362781323492527, 0.3507176637649536]
|
||||
rpy: [-92.0743240366704, -2.2822273398637427, 9.998617802669521]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_130
|
||||
xyz: [0.04725605994462967, 0.2773621678352356, 0.3334869146347046]
|
||||
rpy: [-90.11681428565232, 25.114312979814798, 1.6941725245611532]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_108.yaml
Normal file
39
cfg/sim/scene_108.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/sofa/sofa_013
|
||||
xyz: [-0.0032460284419357777, -0.00369087397120893, 0.35076382756233215]
|
||||
rpy: [0.001361728831119986, 0.5148341988876908, 89.41330351181674]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_106
|
||||
xyz: [-0.1218186765909195, 0.18863581120967865, 0.3962629437446594]
|
||||
rpy: [-96.67817444796303, 0.8931657809226509, 51.16127641992971]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bottle/bottle_055
|
||||
xyz: [0.22939898073673248, 0.057770904153585434, 0.4151173233985901]
|
||||
rpy: [-89.8309726051319, 8.15036209788317, -3.7858377002117187]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/tomato/tomato_028
|
||||
xyz: [0.07119832187891006, 0.455832839012146, 0.3781611919403076]
|
||||
rpy: [-139.29788621728213, -82.65024135339468, 69.15186371465782]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_104
|
||||
xyz: [0.14066673815250397, -0.11371515691280365, 0.3865549862384796]
|
||||
rpy: [-93.18730909933994, -0.37834149709074266, -7.097113894146447]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lemon/lemon_029
|
||||
xyz: [0.2364291101694107, 0.4693015217781067, 0.3843846619129181]
|
||||
rpy: [83.3250402754949, 6.966795398855015, -173.65357063628062]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/corn/corn_029
|
||||
xyz: [0.08938850462436676, 0.3631565272808075, 0.3928191661834717]
|
||||
rpy: [-89.11631146275778, -25.492202174207744, -6.021781183396147]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_109.yaml
Normal file
44
cfg/sim/scene_109.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/chair/chair_028
|
||||
xyz: [-0.0033853212371468544, 0.0246126689016819, 0.365233838558197]
|
||||
rpy: [5.066498008519197, 6.223703296468185, 117.35812275070941]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/garlic/garlic_032
|
||||
xyz: [0.004555722698569298, -0.04953886196017265, 0.07064509391784668]
|
||||
rpy: [122.91876909500262, 3.1570754255262896, -179.66082801117602]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_112
|
||||
xyz: [0.013796973042190075, -0.11225001513957977, 0.07440730184316635]
|
||||
rpy: [109.42016358584837, -0.20044764874149076, -178.2666949689682]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_030
|
||||
xyz: [0.12335176765918732, 0.0852266401052475, 0.07237309962511063]
|
||||
rpy: [-96.31005396155395, 84.34871408022873, 112.6554164582512]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_039
|
||||
xyz: [-0.02457842044532299, 0.12166478484869003, 0.34072527289390564]
|
||||
rpy: [149.2738114786675, 4.710655430595548, 161.4844658784024]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/tomato/tomato_029
|
||||
xyz: [0.0811765044927597, -0.10223161429166794, 0.09429243206977844]
|
||||
rpy: [-152.73197440470804, -61.317619053444034, 83.19386059727492]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/knife/knife_031
|
||||
xyz: [0.0979088619351387, -0.026862652972340584, 0.07345183938741684]
|
||||
rpy: [-96.7245857195255, -30.232363273837866, -1.3524215684261758]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lemon/lemon_033
|
||||
xyz: [0.09461355954408646, -0.01103352103382349, 0.0818539708852768]
|
||||
rpy: [-96.93416519490631, 31.333821925834968, -9.939645278507918]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_11.yaml
Normal file
44
cfg/sim/scene_11.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/blender/blender_cabinet_001
|
||||
xyz: [0.005622704513370991, -0.013195041567087173, 0.06487274169921875]
|
||||
rpy: [0.7876539285367171, 4.768998877699067e-07, 89.9999855139172]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_126
|
||||
xyz: [-0.45422691106796265, 0.1856711208820343, 0.06929393112659454]
|
||||
rpy: [-89.95678896907458, -2.264396254264612, -1.2685186492792515]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/corn/corn_030
|
||||
xyz: [-0.592729389667511, -0.16370443999767303, 0.21343792974948883]
|
||||
rpy: [-91.2009383209829, 3.7583337113498265, 0.03667208865847499]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/banana/banana_042
|
||||
xyz: [-0.3937448263168335, 0.186106875538826, 0.21239155530929565]
|
||||
rpy: [-43.96782861951635, 31.497119860957536, 86.41208400631687]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/apple/apple_065
|
||||
xyz: [-0.55046546459198, 0.1254674345254898, 0.22112341225147247]
|
||||
rpy: [13.581127236364882, 64.80537853040823, 48.349173384719926]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bottle/bottle_058
|
||||
xyz: [-0.42053425312042236, -0.02265826426446438, 0.24784474074840546]
|
||||
rpy: [-113.62601461124285, 11.157400763193007, 5.2623713475047635]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_047
|
||||
xyz: [-0.4218096137046814, -0.02377079799771309, 0.07559432834386826]
|
||||
rpy: [-93.1675133751715, 16.80003381826128, -12.372897262029579]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_128
|
||||
xyz: [0.05780746787786484, -0.1336626559495926, 0.07617145031690598]
|
||||
rpy: [-90.2152939058625, -3.807434037476856, 3.4832431417886345]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_110.yaml
Normal file
44
cfg/sim/scene_110.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/blender/blender_cabinet_001
|
||||
xyz: [-5.3192488849163055e-06, 2.8461217880249023e-06, 0.011000096797943115]
|
||||
rpy: [-7.639469536740874e-05, 7.068086327132956e-06, 90.00000482966784]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/cup/cup_034
|
||||
xyz: [-0.09023480117321014, -0.22817957401275635, 0.5050451755523682]
|
||||
rpy: [-88.55876423668529, -4.523555632076107, -1.382486827697386]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_044
|
||||
xyz: [0.6207333207130432, -0.015019319951534271, 0.8407018780708313]
|
||||
rpy: [-88.37089039651303, -5.020814213262355, -13.388245268650188]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_113
|
||||
xyz: [-0.022320853546261787, -0.17997156083583832, 0.8276252150535583]
|
||||
rpy: [-90.32761618732296, -3.441624592814248, 0.771329052668081]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_051
|
||||
xyz: [-0.20992062985897064, -0.14605477452278137, 0.8497023582458496]
|
||||
rpy: [-82.32917117232894, -2.1270622587264887, 2.1089282596241956]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_105
|
||||
xyz: [0.35315409302711487, -0.07247873395681381, 0.8300089836120605]
|
||||
rpy: [-36.49110087029998, 1.029172368753416, -3.4140488740037718]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/knife/knife_030
|
||||
xyz: [-0.1722036749124527, -0.07424240559339523, 0.9116144776344299]
|
||||
rpy: [-101.54290433193388, -9.30747637961406, -5.583816148583663]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bowl/bowl_017
|
||||
xyz: [-0.2815844416618347, -0.2535107433795929, 0.6024590134620667]
|
||||
rpy: [-97.90807878209728, -9.951706092456492, -20.98476614349016]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_111.yaml
Normal file
44
cfg/sim/scene_111.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/flower/flower_pot_022
|
||||
xyz: [0.0012714932672679424, -6.231415318325162e-05, 0.052050501108169556]
|
||||
rpy: [-0.275842585116386, -1.0829813669206096, 89.80076045823958]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/carrot/carrot_040
|
||||
xyz: [-0.0013422584161162376, -0.028385795652866364, 0.013455151580274105]
|
||||
rpy: [92.50521336142494, 28.71928955213354, 176.14470109742763]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/popcorn/popcorn_040
|
||||
xyz: [0.00981776975095272, 0.03246866166591644, 0.01379045657813549]
|
||||
rpy: [148.2765932752606, 37.02908428543295, -13.712295677329168]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_030
|
||||
xyz: [-0.025310751050710678, 0.019723201170563698, 0.011528787203133106]
|
||||
rpy: [-24.61823954601699, 20.27467762266801, -101.78219390959698]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/popcorn/popcorn_041
|
||||
xyz: [0.028472356498241425, -0.026494141668081284, 0.020122624933719635]
|
||||
rpy: [128.88230948922535, -13.143575212979748, -98.96307395807028]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_028
|
||||
xyz: [0.031330741941928864, -0.019087815657258034, 0.00796825997531414]
|
||||
rpy: [-13.975632113404046, 3.3761574012620748, 81.27165254985924]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_038
|
||||
xyz: [0.013669636100530624, -0.006601969711482525, 0.017095064744353294]
|
||||
rpy: [-81.39224328254333, -55.772048303491324, -62.72960680185208]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_040
|
||||
xyz: [0.0037504611536860466, 0.015017407946288586, 0.01970028132200241]
|
||||
rpy: [109.58204903647561, -52.91341266587481, -72.3123430260397]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_112.yaml
Normal file
39
cfg/sim/scene_112.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/table/table_028
|
||||
xyz: [-1.1418014764785767e-06, -1.1175870895385742e-08, 0.29244810342788696]
|
||||
rpy: [2.0217478844564653e-05, 4.8893655002027905e-05, 90.00000965935413]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_125
|
||||
xyz: [-0.14567062258720398, 0.12142167240381241, 0.4159211218357086]
|
||||
rpy: [-87.53967272467025, 2.8974712504358684, 14.003466713797437]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_049
|
||||
xyz: [0.03704144433140755, -0.009821755811572075, 0.3905099034309387]
|
||||
rpy: [-90.86725667614564, 1.2616461800073395, -1.9985470393664793]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_039
|
||||
xyz: [-0.16341572999954224, -0.16292749345302582, 0.409987211227417]
|
||||
rpy: [148.91959389917304, 84.19455942447232, -113.22899011829915]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_051
|
||||
xyz: [-0.14205564558506012, 0.25595545768737793, 0.4194755554199219]
|
||||
rpy: [-92.81125489344474, -21.2336185871538, 5.233166201757409]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/banana/banana_045
|
||||
xyz: [0.139816552400589, 0.17591382563114166, 0.3737344443798065]
|
||||
rpy: [-88.05678442319196, -0.33362272979016805, -3.80720024441333]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_043
|
||||
xyz: [0.1387711614370346, 0.02743452973663807, 0.28385332226753235]
|
||||
rpy: [159.24964764675872, 2.499616689850917, 72.57290609908011]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_113.yaml
Normal file
44
cfg/sim/scene_113.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/chair/chair_027
|
||||
xyz: [0.010664074681699276, 0.020448263734579086, 0.4091029167175293]
|
||||
rpy: [-0.13091227867056363, -1.5795545713291652, 92.97206661460625]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_041
|
||||
xyz: [0.14157499372959137, 0.06837848573923111, 0.45753008127212524]
|
||||
rpy: [92.37636659983235, 77.83800855578124, 104.38375554514313]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/waffle/waffle_040
|
||||
xyz: [0.06160156801342964, -0.06595727056264877, 0.5067546963691711]
|
||||
rpy: [-91.98987000501107, -3.420844955306552, 2.892712738636339]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_130
|
||||
xyz: [0.08695809543132782, 0.0459015890955925, 0.4618791341781616]
|
||||
rpy: [-138.11060101458153, 5.895169065080213, 1.8348706497423102]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/cup/cup_039
|
||||
xyz: [0.03341188281774521, 0.15658074617385864, 0.46781012415885925]
|
||||
rpy: [170.48810219846342, 19.80981427867579, 157.3423102504816]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_120
|
||||
xyz: [-0.04201623797416687, -0.017723824828863144, 0.46868354082107544]
|
||||
rpy: [-178.94282680675965, -0.6792628305017987, -3.9430586955230518]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lemon/lemon_031
|
||||
xyz: [0.1552288681268692, 0.032303374260663986, 0.4785638749599457]
|
||||
rpy: [-90.14948132899254, 35.129629953143194, 2.464320192199808]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/apple/apple_067
|
||||
xyz: [-0.01007455587387085, 0.01970783621072769, 0.47239771485328674]
|
||||
rpy: [-83.57560409215631, 18.858392558811907, 8.958206955183408]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_114.yaml
Normal file
39
cfg/sim/scene_114.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/table/table_026
|
||||
xyz: [-1.6461126506328583e-07, -3.287568688392639e-07, 0.37786465883255005]
|
||||
rpy: [-7.123295992041887e-05, -3.244465607254831e-05, 89.99999034067385]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_037
|
||||
xyz: [0.08833184838294983, -0.12341704219579697, -0.015832407400012016]
|
||||
rpy: [-19.276062573005095, 71.7956906496784, 48.41854056489559]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/banana/banana_040
|
||||
xyz: [-0.12920379638671875, -0.10376386344432831, 0.7114728093147278]
|
||||
rpy: [-54.4976296017449, 31.50217986181138, 86.41134238708908]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bottle/bottle_059
|
||||
xyz: [-0.01934082992374897, -0.17179088294506073, 0.7303414344787598]
|
||||
rpy: [92.13562728275389, -52.3585073213545, -177.63974549726888]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_114
|
||||
xyz: [0.1461324244737625, -0.06076895445585251, 0.6934365630149841]
|
||||
rpy: [-6.251087826337961, -0.1763990816713638, -1.4144101313834958]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/knife/knife_031
|
||||
xyz: [0.19856275618076324, 0.06149379536509514, 0.6950825452804565]
|
||||
rpy: [85.3390146227355, -84.16509232867868, 174.17326884991346]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bowl/bowl_017
|
||||
xyz: [0.03719205781817436, -0.012607350945472717, 0.7331768274307251]
|
||||
rpy: [-61.782573540851395, -4.5260832733201966, 87.68655299746658]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_115.yaml
Normal file
39
cfg/sim/scene_115.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/flower/flower_pot_022
|
||||
xyz: [0.0017589048948138952, -5.530758062377572e-05, -0.0021463052835315466]
|
||||
rpy: [-0.41127299481072094, -1.4680789998430177, 89.72891000024558]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bottle/bottle_061
|
||||
xyz: [-0.026577545329928398, 0.0008078029495663941, -0.035371266305446625]
|
||||
rpy: [-104.53164452950989, -17.16485168062931, -122.63942913194866]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_037
|
||||
xyz: [-0.0045810663141310215, 0.02412835881114006, -0.03172347694635391]
|
||||
rpy: [-0.23843584805155216, 63.28238797087386, 162.06425360269196]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_029
|
||||
xyz: [0.02872084081172943, -0.020378556102514267, -0.03876950964331627]
|
||||
rpy: [-98.0110997222264, -10.281336824488612, 45.32026497136703]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/popcorn/popcorn_041
|
||||
xyz: [0.03216961771249771, -0.005704380106180906, -0.04416120424866676]
|
||||
rpy: [-39.97161127645782, -9.479253574788792, 124.32459956873706]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/carrot/carrot_040
|
||||
xyz: [0.0335037000477314, 0.0050456165336072445, -0.02898601070046425]
|
||||
rpy: [-81.48507523035038, -58.14288831715312, 108.4338028196972]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_039
|
||||
xyz: [0.006275484804064035, -0.02215992659330368, -0.031784817576408386]
|
||||
rpy: [-39.73688020233271, -72.90442533049378, -20.582057331384227]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_116.yaml
Normal file
39
cfg/sim/scene_116.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/table/table_026
|
||||
xyz: [-2.591474913060665e-05, -5.660625174641609e-05, 0.377864807844162]
|
||||
rpy: [0.013844968507104986, -4.161649105807667e-05, 89.99994686857384]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/pear/pear_038
|
||||
xyz: [0.21628768742084503, -0.16364586353302002, 0.7092069387435913]
|
||||
rpy: [-90.05575383600744, 5.526782311955697, -2.249347630760695]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/apple/apple_062
|
||||
xyz: [0.25818440318107605, 0.07603859156370163, 0.7222561240196228]
|
||||
rpy: [-83.82406754627989, 62.331140080676725, 46.458994832396975]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_030
|
||||
xyz: [0.12278962135314941, -0.2180207073688507, 0.6940954923629761]
|
||||
rpy: [110.83425139513284, -85.03900976228184, -170.9201326932937]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_105
|
||||
xyz: [-0.07988646626472473, 0.17805078625679016, 0.7062204480171204]
|
||||
rpy: [-89.6829575525746, 1.007433370761906, -3.4104059360093206]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/waffle/waffle_041
|
||||
xyz: [0.16972678899765015, -0.04613282531499863, 0.7313626408576965]
|
||||
rpy: [-90.18662451181983, -1.0080320819067181, -0.8786960979671553]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_046
|
||||
xyz: [0.12541843950748444, 0.06037267670035362, 0.0033938675187528133]
|
||||
rpy: [-88.98215212189363, 1.5836976599222516, 2.207775334166556]
|
||||
scale: 1.0
|
||||
24
cfg/sim/scene_117.yaml
Normal file
24
cfg/sim/scene_117.yaml
Normal file
@ -0,0 +1,24 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/picnic/picnic_basket_011
|
||||
xyz: [0.004916819278150797, -0.000505681149661541, 0.14613819122314453]
|
||||
rpy: [2.7693045409334935, 0.18571154800065423, 90.65001770149219]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bottle/bottle_055
|
||||
xyz: [-0.05862351134419441, 0.06811176985502243, 0.26993995904922485]
|
||||
rpy: [66.49250292806498, -41.977088883163596, -9.01350013034243]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_045
|
||||
xyz: [0.07067541778087616, 0.0996980220079422, 0.23593519628047943]
|
||||
rpy: [92.89693368945893, -87.65023983875092, 167.44355414095133]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_044
|
||||
xyz: [-0.008562986738979816, -0.016804523766040802, 0.24081458151340485]
|
||||
rpy: [96.48690768699167, -70.2228655756879, 89.3581631307705]
|
||||
scale: 1.0
|
||||
34
cfg/sim/scene_118.yaml
Normal file
34
cfg/sim/scene_118.yaml
Normal file
@ -0,0 +1,34 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/blender/blender_cabinet_007
|
||||
xyz: [-1.6926787793636322e-07, 9.406358003616333e-08, 0.016625791788101196]
|
||||
rpy: [-1.2336979145568661e-05, 4.1637655295871346e-07, 89.99999999999996]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bottle/bottle_058
|
||||
xyz: [0.2791193723678589, 0.036731090396642685, 0.19567175209522247]
|
||||
rpy: [103.10313080440892, 69.62693654963826, 10.026603414421757]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/banana/banana_039
|
||||
xyz: [-0.26399004459381104, -0.11445283144712448, 0.12957213819026947]
|
||||
rpy: [-90.73382617572481, 0.5100531475845306, -1.2186186055546906]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_051
|
||||
xyz: [-0.4248788058757782, 0.1873403787612915, 0.16872410476207733]
|
||||
rpy: [-90.09181724025683, -18.305174520970297, -3.61593640259226]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_045
|
||||
xyz: [0.2677001655101776, -0.07379375398159027, 0.12485168129205704]
|
||||
rpy: [175.4567599317084, 2.690732701975241, -1.4974363108027986]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_110
|
||||
xyz: [0.5749123692512512, -0.031534310430288315, 0.14444026350975037]
|
||||
rpy: [-71.9309040383738, -3.7802978248975916, -5.87821910323505]
|
||||
scale: 1.0
|
||||
14
cfg/sim/scene_119.yaml
Normal file
14
cfg/sim/scene_119.yaml
Normal file
@ -0,0 +1,14 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/chair/chair_027
|
||||
xyz: [0.010605523362755775, 0.020392291247844696, 0.409040629863739]
|
||||
rpy: [-0.12730045523684103, -1.5689536705273486, 92.96182049299054]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_042
|
||||
xyz: [0.07116808742284775, -0.1289406418800354, 0.4671841561794281]
|
||||
rpy: [74.7715660525354, -69.92339819615889, 71.53166079207978]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_12.yaml
Normal file
44
cfg/sim/scene_12.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/table/table_026
|
||||
xyz: [4.7069741412997246e-05, 0.0001042005605995655, 0.377864807844162]
|
||||
rpy: [-0.028360000579106228, -8.075791673897126e-05, 89.99999036064027]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_028
|
||||
xyz: [0.1341770887374878, 0.1480761468410492, -0.02285735495388508]
|
||||
rpy: [-105.23707262450216, -61.51411273251888, 99.81775995002037]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_127
|
||||
xyz: [0.12109516561031342, -0.18674588203430176, 0.6971540451049805]
|
||||
rpy: [-89.87865553001282, -3.441829815605675, 0.7702036659111915]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lemon/lemon_029
|
||||
xyz: [0.052287306636571884, -0.07917667925357819, 0.7202030420303345]
|
||||
rpy: [-97.55029995352882, -37.75558366984147, 31.86117600070003]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_039
|
||||
xyz: [0.04776069521903992, 0.038014110177755356, 0.6981335282325745]
|
||||
rpy: [-165.32358382710058, -80.03760595284386, 127.13899098781795]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bottle/bottle_056
|
||||
xyz: [-0.23402047157287598, 0.02326931618154049, 0.727636456489563]
|
||||
rpy: [-90.03247962741823, 23.56563596393118, -0.20094943271386387]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_049
|
||||
xyz: [0.19097228348255157, -0.19418899714946747, -0.04491649940609932]
|
||||
rpy: [124.35265798719807, 42.171776343912335, 2.9089467197138377]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_109
|
||||
xyz: [-0.0934770479798317, 0.00865254271775484, 0.701958954334259]
|
||||
rpy: [-96.02839969252085, -6.045148169732125, 3.837177423699664]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_120.yaml
Normal file
39
cfg/sim/scene_120.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/blender/blender_cabinet_009
|
||||
xyz: [1.1119991540908813e-05, 2.425350248813629e-05, 0.006080150604248047]
|
||||
rpy: [2.440729695092224e-05, 0.03732614484891975, 89.91770720375536]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_043
|
||||
xyz: [0.16255392134189606, -0.055996622890233994, 0.12565457820892334]
|
||||
rpy: [-89.9941040946941, -11.561248587425784, -4.662059426835922]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_039
|
||||
xyz: [0.2383960336446762, 0.04676474258303642, 0.12890352308750153]
|
||||
rpy: [-90.34590085251993, -9.146802247036193, 7.968727187921329]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_128
|
||||
xyz: [0.03403576835989952, 0.061955153942108154, 1.2183326482772827]
|
||||
rpy: [-90.12022168212084, -3.032134873448067, -1.1224228420603608]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/banana/banana_044
|
||||
xyz: [-0.10678824782371521, -0.13540461659431458, 0.14297083020210266]
|
||||
rpy: [-89.75457823016596, -8.572017584547046, 100.59574587841483]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_056
|
||||
xyz: [0.3267514109611511, 0.05417367443442345, 0.1383642852306366]
|
||||
rpy: [-87.84689456895397, -16.999214597889555, -1.45769255474885]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/banana/banana_042
|
||||
xyz: [-0.1968710571527481, 0.08855249732732773, 0.13442593812942505]
|
||||
rpy: [-41.253844465156156, 28.184291661240344, 87.08967731700072]
|
||||
scale: 1.0
|
||||
34
cfg/sim/scene_121.yaml
Normal file
34
cfg/sim/scene_121.yaml
Normal file
@ -0,0 +1,34 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/table/table_025
|
||||
xyz: [0.0002965228632092476, 0.0025230050086975098, 0.21724006533622742]
|
||||
rpy: [-0.1360366154848852, -0.012102853921545129, 90.63605219734188]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bottle/bottle_059
|
||||
xyz: [-0.10822997242212296, -0.10367231070995331, 0.5324440598487854]
|
||||
rpy: [89.7631149287388, -52.44258775016381, -177.73898051069025]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/cup/cup_038
|
||||
xyz: [0.11093338578939438, -0.07472046464681625, 0.5030166506767273]
|
||||
rpy: [-89.05647893218988, -7.235099691825214, -2.2016900389066176]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_114
|
||||
xyz: [-0.01852954924106598, 0.19509020447731018, 0.4949711561203003]
|
||||
rpy: [-84.59181622289029, 2.6237805079178527, -2.249961909771377]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_106
|
||||
xyz: [0.09119021892547607, 0.21075530350208282, 0.4952891767024994]
|
||||
rpy: [-89.98544801822561, -0.14062861008545596, -1.4199668655106945]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/banana/banana_039
|
||||
xyz: [-0.11603554338216782, 0.16034743189811707, 0.44109848141670227]
|
||||
rpy: [-90.10993672328767, -0.007681427425980797, 5.251620329953933]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_122.yaml
Normal file
39
cfg/sim/scene_122.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/table/table_025
|
||||
xyz: [0.000270746648311615, 0.002130456268787384, 0.22824013233184814]
|
||||
rpy: [-0.139512891794777, -0.011966017580388453, 90.636086178307]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/watch/watch_013
|
||||
xyz: [-0.05430103838443756, -0.01655547507107258, 0.5207832455635071]
|
||||
rpy: [-90.21622455053735, 7.091425972367373, -2.9892178829838105]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_044
|
||||
xyz: [-0.13922439515590668, 0.09175056219100952, 0.5232542157173157]
|
||||
rpy: [-88.75819414607105, -4.966264936893748, -13.349349621457641]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_038
|
||||
xyz: [-0.08456150442361832, 0.13921032845973969, 0.5083805322647095]
|
||||
rpy: [-4.85127462497416, 85.61956739455792, 132.93330104002223]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/popcorn/popcorn_037
|
||||
xyz: [0.13612595200538635, -0.07962170243263245, 0.5089182257652283]
|
||||
rpy: [-43.70965294202278, 80.74386058231171, 126.30902124538022]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/apple/apple_067
|
||||
xyz: [0.11173632740974426, -0.02998635731637478, 0.533147394657135]
|
||||
rpy: [-86.76022596525186, 0.28294879876180373, -5.8965315273979675]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_042
|
||||
xyz: [-0.03611898049712181, 0.20367304980754852, 0.5143672227859497]
|
||||
rpy: [-90.41876507466642, -12.360653067999579, -21.400964887093252]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_123.yaml
Normal file
39
cfg/sim/scene_123.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/cabinet/cabinet_009
|
||||
xyz: [0.006830718368291855, -0.009738527238368988, 0.42000433802604675]
|
||||
rpy: [0.018960223808953312, -0.9603853137865145, 88.61150271868449]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_045
|
||||
xyz: [0.13269825279712677, 0.10390669852495193, 0.8959007859230042]
|
||||
rpy: [-80.86616123387958, 29.694563662559652, 18.054164433078302]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/apple/apple_062
|
||||
xyz: [0.004931948613375425, -0.04235460236668587, 0.9079228639602661]
|
||||
rpy: [-77.40229414727766, 32.61692619948275, 52.17235430939711]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/apple/apple_067
|
||||
xyz: [-0.0349465012550354, 0.038589607924222946, 0.9212875366210938]
|
||||
rpy: [-89.06050325408525, -16.39977188400301, -15.882613799274568]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_029
|
||||
xyz: [0.17477382719516754, 0.14476054906845093, 0.8809067010879517]
|
||||
rpy: [-37.258456930311134, 85.01400031944168, 162.48572113775703]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_054
|
||||
xyz: [0.08972875028848648, -0.039889585226774216, 0.9009467363357544]
|
||||
rpy: [-90.91501032801912, 18.227069909036064, -19.354701729012415]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/ginger/ginger_040
|
||||
xyz: [-0.04692373424768448, -0.08717404305934906, 0.8835301399230957]
|
||||
rpy: [-123.27574578207006, -5.650515502735997, 5.545247532659073]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_124.yaml
Normal file
39
cfg/sim/scene_124.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/flower/flower_pot_022
|
||||
xyz: [0.0005584837635979056, 0.0001386271178489551, -0.0020163673907518387]
|
||||
rpy: [-0.3585676452856884, -0.28496671620568764, 89.94738332080298]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/popcorn/popcorn_037
|
||||
xyz: [0.0008790861465968192, 0.032657284289598465, -0.04100089892745018]
|
||||
rpy: [-166.67734999530006, 25.56854871794429, -25.89697057802971]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_029
|
||||
xyz: [0.03472687676548958, 0.0023065998684614897, -0.042275507003068924]
|
||||
rpy: [-174.78411250383078, 14.128809648431258, 101.78966799062549]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/popcorn/popcorn_039
|
||||
xyz: [-0.0002992780355270952, -0.03412168100476265, -0.042589686810970306]
|
||||
rpy: [-83.80641976301602, -44.80141850921668, 15.471436073801787]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_037
|
||||
xyz: [-0.015715209767222404, 0.011743046343326569, -0.037101954221725464]
|
||||
rpy: [-164.36836786472554, 64.33202215502716, -20.664790931233046]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_031
|
||||
xyz: [-0.0019299862906336784, -0.016294842585921288, -0.040583521127700806]
|
||||
rpy: [-78.11825045932589, -40.53808749369672, -1.7486230249803745]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_039
|
||||
xyz: [0.026329411193728447, -0.0033315103501081467, -0.027750208973884583]
|
||||
rpy: [169.27408568979388, 56.60158632007647, -21.23970929678295]
|
||||
scale: 1.0
|
||||
29
cfg/sim/scene_125.yaml
Normal file
29
cfg/sim/scene_125.yaml
Normal file
@ -0,0 +1,29 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/chair/chair_027
|
||||
xyz: [0.012498665601015091, 0.023541001603007317, 0.39406082034111023]
|
||||
rpy: [-0.44731775803452767, -1.9439615622581203, 93.26196617418881]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_126
|
||||
xyz: [0.03056909516453743, 0.10581869632005692, 0.4435102641582489]
|
||||
rpy: [-71.59462656233846, 3.4344773390959524, 5.144537179494866]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bottle/bottle_061
|
||||
xyz: [0.04115285724401474, -0.0451841838657856, 0.4542439877986908]
|
||||
rpy: [112.96952450951444, 58.488432072684844, 173.31743626159863]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/banana/banana_041
|
||||
xyz: [0.17666970193386078, -0.02837209776043892, 0.45827609300613403]
|
||||
rpy: [52.5689567236234, -85.1685813360077, -106.03579058502909]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_040
|
||||
xyz: [0.0027937614358961582, -0.013012837618589401, 0.45666924118995667]
|
||||
rpy: [27.22063481102664, 76.66199809283253, 77.28520175009834]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_126.yaml
Normal file
44
cfg/sim/scene_126.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/flower/flower_pot_023
|
||||
xyz: [6.487139035016298e-05, -0.002037867670878768, 0.07434102147817612]
|
||||
rpy: [-0.028155243286861333, -0.08236393785225832, 87.81722318909407]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_042
|
||||
xyz: [-0.006117717828601599, 0.03877002373337746, 0.05730341747403145]
|
||||
rpy: [-72.92758530973587, 15.410431649658376, -1.689314741533065]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/popcorn/popcorn_040
|
||||
xyz: [0.01728278398513794, 0.016836436465382576, 0.03477640822529793]
|
||||
rpy: [-59.233835885746416, 24.37043347893419, 33.749351944502095]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_045
|
||||
xyz: [0.012628897093236446, -0.03143233060836792, 0.045898955315351486]
|
||||
rpy: [-74.44040387373494, -17.216858247619594, 58.514304691208366]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/carrot/carrot_040
|
||||
xyz: [-0.007182138040661812, 0.012528518214821815, 0.04399707913398743]
|
||||
rpy: [-64.84579652760759, -43.750262129490736, -15.510160485825589]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/walnut/walnut_039
|
||||
xyz: [0.01042894646525383, -0.00894312933087349, 0.042973682284355164]
|
||||
rpy: [-94.41763140958841, 49.365158964091286, 54.263479348943015]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/popcorn/popcorn_041
|
||||
xyz: [0.03398669511079788, 0.0030621469486504793, 0.032022107392549515]
|
||||
rpy: [-115.90437293764028, -19.30292659602866, 50.86046679670366]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bottle/bottle_061
|
||||
xyz: [-0.016388308256864548, -0.011897738091647625, 0.04137548431754112]
|
||||
rpy: [73.98221590433687, -33.78170788188443, -95.43263613197296]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_127.yaml
Normal file
44
cfg/sim/scene_127.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/table/table_027
|
||||
xyz: [8.030980825424194e-05, -0.0007281452417373657, 0.4652537405490875]
|
||||
rpy: [8.054588883974274e-05, -0.010111329835777682, 89.90798023053345]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/tomato/tomato_028
|
||||
xyz: [-0.02311244048178196, 0.021158406510949135, 0.8037960529327393]
|
||||
rpy: [-68.07851024107138, 68.15965061280566, 42.75652321471591]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_112
|
||||
xyz: [0.07374541461467743, -0.062034182250499725, 0.7868693470954895]
|
||||
rpy: [-89.76548028232571, 6.031465569618055, 3.4372818643130594]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/garlic/garlic_033
|
||||
xyz: [-0.20733650028705597, -0.06171179562807083, 0.7924793362617493]
|
||||
rpy: [-90.9074129612394, 5.38191482019641, 4.134628837576897]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_041
|
||||
xyz: [0.03912976756691933, 0.0712624192237854, 0.7952033281326294]
|
||||
rpy: [131.31349833694838, -79.06774086580862, 106.77738089615454]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/cup/cup_038
|
||||
xyz: [0.09693719446659088, 0.34028610587120056, 0.7982916235923767]
|
||||
rpy: [-90.04761596005714, -2.0702728636601133, -1.1806247641479781]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/pear/pear_036
|
||||
xyz: [-0.11870761215686798, -0.33613449335098267, 0.8251417875289917]
|
||||
rpy: [-83.42488239679969, -14.650135534135716, -15.25616690870022]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/apple/apple_064
|
||||
xyz: [0.06530366837978363, -0.3738926351070404, 0.8294923901557922]
|
||||
rpy: [-93.92956847074547, -9.36617178060416, 37.514924699667596]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_128.yaml
Normal file
44
cfg/sim/scene_128.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/chair/chair_028
|
||||
xyz: [-0.004133913200348616, -0.0005471608601510525, 0.2918606400489807]
|
||||
rpy: [-0.1105912500805935, 0.837743352471836, 89.71304944825626]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_046
|
||||
xyz: [0.008872918784618378, -0.0421602725982666, 0.2944948971271515]
|
||||
rpy: [136.3026891054453, 36.41723111945733, -145.172788485359]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/garlic/garlic_032
|
||||
xyz: [-0.012952837161719799, 0.05196968838572502, 0.29443588852882385]
|
||||
rpy: [-90.9044743589984, -12.055615759525034, 1.3666744489001499]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/banana/banana_039
|
||||
xyz: [0.03960970789194107, 0.03266524523496628, 0.30523449182510376]
|
||||
rpy: [-94.7824709230577, 79.5189266780493, 26.00980685607371]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lipstick/lipstick_029
|
||||
xyz: [0.05439426377415657, -0.025787873193621635, 0.2928454577922821]
|
||||
rpy: [-80.7224227791112, 1.154020148398979, -8.258197661188413]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_051
|
||||
xyz: [0.10220328718423843, 0.015059077180922031, 0.3235699236392975]
|
||||
rpy: [-95.27990871555343, 45.51483250921448, -36.26423333779318]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/popcorn/popcorn_041
|
||||
xyz: [-0.001727246562950313, 0.020523278042674065, 0.28479549288749695]
|
||||
rpy: [-59.78478319681284, 38.86019551261879, 84.86150452837185]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/cup/cup_039
|
||||
xyz: [0.1330263912677765, -0.03237694874405861, 0.3180135190486908]
|
||||
rpy: [66.97134381396775, -19.6078837886745, 179.84317409669003]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_129.yaml
Normal file
44
cfg/sim/scene_129.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/picnic/picnic_basket_010
|
||||
xyz: [-0.0021651368588209152, -0.004575260914862156, 0.08212801069021225]
|
||||
rpy: [-0.0502910157394214, 1.9322219665861122, 85.95767942470731]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lipstick/lipstick_028
|
||||
xyz: [-0.014145820401608944, -0.004734158981591463, 0.03655433654785156]
|
||||
rpy: [-165.97071786265414, -3.2724753300726626, 1.523888961792936]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/pear/pear_035
|
||||
xyz: [-0.0319422222673893, -0.037448275834321976, 0.04447242617607117]
|
||||
rpy: [-13.261724118313152, 20.33162772452588, -156.79926201975428]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_037
|
||||
xyz: [0.033285778015851974, -0.062044791877269745, 0.05836709588766098]
|
||||
rpy: [-78.28905105311257, -11.568345951498099, 113.15566004721738]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/waffle/waffle_041
|
||||
xyz: [0.04357355087995529, -0.04705939069390297, 0.07336008548736572]
|
||||
rpy: [-81.27329859522544, -22.392176644894544, -7.489042026469839]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/walnut/walnut_037
|
||||
xyz: [-0.009810134768486023, 0.015697576105594635, 0.05889269709587097]
|
||||
rpy: [-96.71694769477429, -16.74134904376945, 6.599770221998923]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/cup/cup_035
|
||||
xyz: [-0.0028318818658590317, -0.00956784002482891, 0.10770484805107117]
|
||||
rpy: [-95.6772979687605, -16.288942780536573, 19.465744460270837]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_029
|
||||
xyz: [0.059718888252973557, 0.027727458626031876, 0.04116085171699524]
|
||||
rpy: [-57.55298970569301, -74.6633998426649, 41.40327693727317]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_13.yaml
Normal file
44
cfg/sim/scene_13.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/blender/blender_cabinet_007
|
||||
xyz: [2.1420419216156006e-08, 1.0803341865539551e-07, -0.027996301651000977]
|
||||
rpy: [-3.0022656531828348e-05, 0.0003675165958317579, 90.00108184660068]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_045
|
||||
xyz: [0.6199991106987, 0.1312188357114792, 0.11062542349100113]
|
||||
rpy: [98.05253061249282, 75.1522896339843, 102.11940660464136]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/cup/cup_039
|
||||
xyz: [-0.5938463807106018, -0.16512949764728546, 0.10817859321832657]
|
||||
rpy: [-89.74254271883946, 0.6871211773470782, 8.248800071343243]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_118
|
||||
xyz: [-0.5801820158958435, -0.01499082613736391, 0.10416499525308609]
|
||||
rpy: [-90.84167270832945, 2.532204573282445, 6.32471655540153]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lipstick/lipstick_029
|
||||
xyz: [0.009053998626768589, -0.008459875360131264, 0.7113643288612366]
|
||||
rpy: [-90.86059839335199, 84.2808406724583, -0.9167971554755373]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_112
|
||||
xyz: [-0.6687948703765869, 0.09165272861719131, 0.7081438302993774]
|
||||
rpy: [-89.71718441493307, 4.10587460354144, 3.2514826469437126]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_124
|
||||
xyz: [-0.5248257517814636, -0.020101699978113174, 0.1003892719745636]
|
||||
rpy: [-47.88444282751325, -0.01023612677827468, 179.9998481352376]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_113
|
||||
xyz: [-0.46614331007003784, 0.1578274518251419, 0.7178462147712708]
|
||||
rpy: [-90.05841310603918, 1.0301601000608824, -3.4145678699714708]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_130.yaml
Normal file
39
cfg/sim/scene_130.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/flower/flower_pot_021
|
||||
xyz: [0.0004137514333706349, -0.0016374026890844107, -0.001307048136368394]
|
||||
rpy: [0.019916849314722308, -0.42109637712492787, 88.54226785566914]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_044
|
||||
xyz: [0.031240014359354973, 0.02623816393315792, -0.003881915705278516]
|
||||
rpy: [34.248727190739324, -12.147416456851701, 9.49989163464447]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_045
|
||||
xyz: [0.01807457208633423, -0.012063415721058846, -0.03956873342394829]
|
||||
rpy: [-29.02413847894629, -83.402276404488, 91.03720949667536]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_030
|
||||
xyz: [-0.02720656991004944, -0.019451003521680832, -0.04045601561665535]
|
||||
rpy: [110.54129127426565, 68.57593921660393, 17.337724525343866]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_040
|
||||
xyz: [-0.006136758718639612, -0.005289036780595779, -0.02797447331249714]
|
||||
rpy: [37.21998623945183, 83.15397717952982, -72.02745895472403]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/popcorn/popcorn_037
|
||||
xyz: [-0.017551694065332413, 0.003052466083317995, -0.041404929012060165]
|
||||
rpy: [-154.0314981431631, 11.781780638491666, 74.40099271040343]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_031
|
||||
xyz: [0.007934149354696274, 0.028253493830561638, -0.04120923951268196]
|
||||
rpy: [47.539576951492535, -73.1987596531964, 26.32853385880595]
|
||||
scale: 1.0
|
||||
34
cfg/sim/scene_131.yaml
Normal file
34
cfg/sim/scene_131.yaml
Normal file
@ -0,0 +1,34 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/picnic/picnic_basket_011
|
||||
xyz: [-0.0002668430097401142, 0.0009489087387919426, 0.08126553893089294]
|
||||
rpy: [0.006739240125099992, 0.1856776611089066, 90.65003128671918]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/walnut/walnut_037
|
||||
xyz: [-0.07262837886810303, 0.11253691464662552, 0.1817278414964676]
|
||||
rpy: [120.44069460789927, 39.413736022385514, 89.10392629922057]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/watch/watch_015
|
||||
xyz: [0.029746659100055695, -0.1018780991435051, 0.1753530353307724]
|
||||
rpy: [-168.0727856211334, 4.015869497558729, -1.3696411899935916]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/popcorn/popcorn_038
|
||||
xyz: [0.0516001433134079, 0.11836016178131104, 0.17318366467952728]
|
||||
rpy: [-91.26447072492405, 84.01285574816349, 163.19332897485026]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/pear/pear_038
|
||||
xyz: [-0.011593274772167206, 0.0644584596157074, 0.18564075231552124]
|
||||
rpy: [-81.76046334945562, -2.24991886563688, -95.19635419843078]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/ginger/ginger_040
|
||||
xyz: [0.011217919178307056, 0.01741693913936615, 0.17843449115753174]
|
||||
rpy: [-76.27760864729562, -3.1312395012985688, 3.457096168787899]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_132.yaml
Normal file
44
cfg/sim/scene_132.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/blender/blender_cabinet_007
|
||||
xyz: [-1.4633405953645706e-06, 1.424923539161682e-07, -0.0062964558601379395]
|
||||
rpy: [0.00012004982837046828, 8.172619344525469e-07, 90.00001448901973]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/banana/banana_039
|
||||
xyz: [-0.6291921138763428, -0.12823157012462616, 0.7473335862159729]
|
||||
rpy: [162.44550784440034, -85.42745223636324, -103.58638579336879]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_128
|
||||
xyz: [0.6378747224807739, -0.14141862094402313, 0.129059299826622]
|
||||
rpy: [26.55520544045414, 1.4826661941950807, 5.553209263009528]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/corn/corn_030
|
||||
xyz: [0.5167962312698364, 0.0720536932349205, 0.7544965147972107]
|
||||
rpy: [-89.75412703196433, 54.61490424883218, -3.012509804008457]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_056
|
||||
xyz: [0.09952668845653534, 0.04271627962589264, 0.7552443146705627]
|
||||
rpy: [-91.20912931070231, -16.776988218667114, -1.4724906281275298]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bottle/bottle_055
|
||||
xyz: [-0.15831205248832703, -0.15380971133708954, 0.7685239315032959]
|
||||
rpy: [-90.49427776146379, 8.788072911452927, -2.2460292872893044]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_047
|
||||
xyz: [0.05416276678442955, 0.17190013825893402, 0.12737983465194702]
|
||||
rpy: [-93.28808498256394, 16.81302468960215, -12.36109759268669]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_126
|
||||
xyz: [-0.48432254791259766, -0.20928198099136353, 0.9478947520256042]
|
||||
rpy: [-88.5627488580229, -20.67266328866439, 84.22350808411045]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_133.yaml
Normal file
44
cfg/sim/scene_133.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/blender/blender_cabinet_007
|
||||
xyz: [-1.6670674085617065e-07, 1.0989606380462646e-07, 0.016625672578811646]
|
||||
rpy: [-1.2719308618868415e-05, -7.2859263084875735e-06, 90.00000000000081]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bottle/bottle_057
|
||||
xyz: [0.4048232436180115, -0.09679258614778519, 0.7822784781455994]
|
||||
rpy: [93.14544244602928, -62.10621054033463, 176.80328290727778]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/tomato/tomato_028
|
||||
xyz: [-0.2537483870983124, 0.19574537873268127, 0.15603452920913696]
|
||||
rpy: [-29.398918416639393, 68.43406199390458, 75.440760295607]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/waffle/waffle_042
|
||||
xyz: [-0.16343115270137787, 0.05271369591355324, 0.7629494667053223]
|
||||
rpy: [-6.483136280523622, -86.94818342963572, -86.77648479753084]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lemon/lemon_033
|
||||
xyz: [0.5245665907859802, -0.030867207795381546, 0.1661221832036972]
|
||||
rpy: [-171.60028624177846, 40.58299828654163, 11.36194109194135]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/apple/apple_060
|
||||
xyz: [-0.2781287729740143, -0.0764213278889656, 0.788716197013855]
|
||||
rpy: [-93.39492787730596, 38.58449328755145, -18.280556556133657]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_038
|
||||
xyz: [0.5400026440620422, 0.11528132855892181, 0.12127575278282166]
|
||||
rpy: [-90.74640169550086, 2.7520909570242233, 0.7687255975349849]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/pear/pear_037
|
||||
xyz: [0.004462535493075848, 0.14294688403606415, 0.17713859677314758]
|
||||
rpy: [83.32411326628163, 59.92990616241467, -21.478556792210156]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_134.yaml
Normal file
44
cfg/sim/scene_134.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/sofa/sofa_013
|
||||
xyz: [-0.0031492728739976883, -0.003612925298511982, 0.3673896789550781]
|
||||
rpy: [0.0025683974771866626, 0.5148419854252148, 89.41332820249723]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/cup/cup_037
|
||||
xyz: [0.2203563153743744, 0.47120288014411926, 0.4179401099681854]
|
||||
rpy: [-81.76653158446184, -7.761153709480104, 8.685162703053006]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_041
|
||||
xyz: [0.19486966729164124, 0.5077479481697083, 0.4615020453929901]
|
||||
rpy: [-74.34848131675447, -44.236849041700836, -16.77882209688662]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_109
|
||||
xyz: [-0.11272282153367996, 0.16882380843162537, 0.4062260091304779]
|
||||
rpy: [-87.3985250544837, -0.5158280161964381, 38.50631515222484]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lemon/lemon_031
|
||||
xyz: [0.02990923821926117, 0.2633399963378906, 0.4143572449684143]
|
||||
rpy: [-86.92501654489375, 3.0837895967449, -12.936714736520736]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/corn/corn_032
|
||||
xyz: [0.1930619776248932, 0.3738517463207245, 0.41416797041893005]
|
||||
rpy: [-128.08772311174974, 70.55683026130826, -20.503886305961284]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/banana/banana_041
|
||||
xyz: [0.09251448512077332, 0.37709298729896545, 0.4322475790977478]
|
||||
rpy: [-84.728934010793, 16.493015023250024, 58.56381164912799]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/banana/banana_039
|
||||
xyz: [0.30453139543533325, 0.28160756826400757, 0.41968268156051636]
|
||||
rpy: [-51.35511692310481, 26.359559306888848, 86.52016791510844]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_135.yaml
Normal file
44
cfg/sim/scene_135.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/chair/chair_027
|
||||
xyz: [0.012179690413177013, 0.02302008494734764, 0.37148424983024597]
|
||||
rpy: [-0.3870621993791734, -1.8453497130534704, 93.16569183675473]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_043
|
||||
xyz: [0.062184643000364304, -0.09618968516588211, 0.4452302157878876]
|
||||
rpy: [98.73613202687899, -81.9612443260128, 158.27391661236592]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/soap/soap_037
|
||||
xyz: [0.1895209103822708, 0.04144434258341789, 0.4161638021469116]
|
||||
rpy: [-114.52804981820431, -4.528974524187802, 95.91851936137128]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_103
|
||||
xyz: [0.10307961702346802, -0.02517191879451275, 0.44729554653167725]
|
||||
rpy: [-80.32711841032788, 53.25154528709358, 10.335044828132894]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/popcorn/popcorn_041
|
||||
xyz: [0.10049169510602951, 0.07769721746444702, 0.42318999767303467]
|
||||
rpy: [-88.5934849568149, 0.6724916455152374, -2.981560030381697]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_031
|
||||
xyz: [0.036779362708330154, 0.05372597649693489, 0.4280310273170471]
|
||||
rpy: [-80.69922145806498, 75.5784891047464, 15.559711477479297]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bowl/bowl_016
|
||||
xyz: [0.06285887211561203, 0.0519091971218586, 0.43679410219192505]
|
||||
rpy: [-80.04006632689881, 82.30930193999609, 23.68304254205677]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/carrot/carrot_040
|
||||
xyz: [-0.05780039727687836, -0.012394222430884838, 0.43814852833747864]
|
||||
rpy: [-126.60657211808386, -72.8872705605663, 58.30828356063802]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_136.yaml
Normal file
39
cfg/sim/scene_136.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/picnic/picnic_basket_010
|
||||
xyz: [-0.0012034547980874777, -0.010374171659350395, 0.00787667091935873]
|
||||
rpy: [-0.43827367163684544, 0.6731925018525833, 82.15330291149141]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_114
|
||||
xyz: [0.0013321959413588047, -0.039517842233181, -0.044537197798490524]
|
||||
rpy: [-74.80007334308333, 6.759759824796415, 0.04304724292032693]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/walnut/walnut_037
|
||||
xyz: [-0.05189039185643196, -0.03656395152211189, -0.035525452345609665]
|
||||
rpy: [-102.99508648395617, 3.1554736769360985, -2.5400067769533576]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_030
|
||||
xyz: [0.05282784253358841, -0.05447458475828171, -0.037371374666690826]
|
||||
rpy: [-20.90008053718245, -34.24269164219099, -45.03132715201344]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lemon/lemon_033
|
||||
xyz: [-0.01717827282845974, 0.0013788104988634586, -0.01840907335281372]
|
||||
rpy: [-81.88017839953285, -14.810859029497527, 7.7456556503369764]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lemon/lemon_029
|
||||
xyz: [-0.005529078654944897, -0.05693826451897621, -0.008926494978368282]
|
||||
rpy: [165.50549660608797, -51.305453072801335, 112.9449058830241]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/pear/pear_035
|
||||
xyz: [-0.03824900835752487, 0.03328312560915947, -0.006640023086220026]
|
||||
rpy: [-110.25535749845758, 67.65434232960929, 33.417289741282055]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_137.yaml
Normal file
39
cfg/sim/scene_137.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/blender/blender_cabinet_007
|
||||
xyz: [-1.210719347000122e-07, 1.30385160446167e-07, -0.027996331453323364]
|
||||
rpy: [-2.2239233277797996e-05, 0.00035960361416048896, 90.00107701699982]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_041
|
||||
xyz: [0.3737344443798065, -0.004998696036636829, 0.11979839205741882]
|
||||
rpy: [-91.52710162310794, -4.254756852025911, 7.927512769921107]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_125
|
||||
xyz: [-0.4767882525920868, -0.0020594652742147446, 1.0532828569412231]
|
||||
rpy: [-147.09984934649435, -66.09547512111838, 6.963478174421607]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_045
|
||||
xyz: [-0.26528602838516235, 0.02626761607825756, 0.11576687544584274]
|
||||
rpy: [-88.02314939583768, 31.559213513146812, 15.879580615481185]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/apple/apple_064
|
||||
xyz: [-0.19667504727840424, 0.1226155236363411, 0.1306910365819931]
|
||||
rpy: [-93.2854684843342, -9.155959100082251, 32.84999557750907]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bottle/bottle_060
|
||||
xyz: [0.001198310637846589, -0.07193954288959503, 0.1144489124417305]
|
||||
rpy: [-89.995465756105, -4.501029522419907, -0.4950487085459015]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_042
|
||||
xyz: [-0.24200071394443512, -0.168409526348114, 1.0411945581436157]
|
||||
rpy: [-92.11793604459646, -8.726398727926792, -20.96080249345254]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_138.yaml
Normal file
39
cfg/sim/scene_138.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/flower/flower_pot_021
|
||||
xyz: [-0.006994484458118677, -0.01704922690987587, 0.12786756455898285]
|
||||
rpy: [-0.9046524256203617, -4.6878176585419205, 80.8804174530535]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_040
|
||||
xyz: [-0.0014874867629259825, -0.02161952666938305, 0.11334101855754852]
|
||||
rpy: [172.3940584306692, -40.99953790096183, 36.77288649894201]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_037
|
||||
xyz: [-0.007721417583525181, -0.04587627947330475, 0.09821302443742752]
|
||||
rpy: [-102.52209748680906, -28.83342374605187, -132.3307904411092]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/popcorn/popcorn_039
|
||||
xyz: [0.025899477303028107, 0.0037776243407279253, -439.3643493652344]
|
||||
rpy: [-89.99999517032747, -1.5092727095493124e-06, 9.055635396813238e-07]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_042
|
||||
xyz: [0.029703207314014435, -0.0298570916056633, 0.10978398472070694]
|
||||
rpy: [-29.49733553466647, -30.851267385994582, -9.413516958793906]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bottle/bottle_061
|
||||
xyz: [-0.016308201476931572, -0.01312299631536007, -420.9966735839844]
|
||||
rpy: [-90.0, -7.970845973310922e-07, 2.9713804480688954e-07]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_042
|
||||
xyz: [-0.028724536299705505, -0.023781288415193558, 0.10473264753818512]
|
||||
rpy: [-131.76017466656876, 41.538353996741016, -57.57394971200935]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_139.yaml
Normal file
39
cfg/sim/scene_139.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/chair/chair_027
|
||||
xyz: [0.008757415227591991, 0.019378365948796272, 0.3371662199497223]
|
||||
rpy: [-0.501188094496758, -1.1719943272263942, 92.56623867920328]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/banana/banana_044
|
||||
xyz: [0.12198963761329651, 0.04794576019048691, 0.4125376045703888]
|
||||
rpy: [-56.48933824756963, 63.5466379613911, 132.50430566906792]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_031
|
||||
xyz: [0.03452117741107941, 0.07758693397045135, 0.39187130331993103]
|
||||
rpy: [-88.90249420340523, 20.03128436837397, 1.7245882207341114]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_124
|
||||
xyz: [-0.02004414051771164, 0.00656987726688385, 0.3966212272644043]
|
||||
rpy: [-85.23157197746396, -32.393176010449075, -1.635491844517498]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_056
|
||||
xyz: [-0.006364216096699238, 0.036551304161548615, 0.39061439037323]
|
||||
rpy: [-88.21117817408268, 6.621935757753438, 4.531955713748146]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_127
|
||||
xyz: [0.10764497518539429, 0.07529450207948685, 0.38561779260635376]
|
||||
rpy: [122.00782388688657, 4.056140706006609, 176.75370194095797]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_047
|
||||
xyz: [0.10008244216442108, -0.07659097015857697, 0.4002908766269684]
|
||||
rpy: [-95.09469640739704, 14.388451354688629, -8.602202158992776]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_14.yaml
Normal file
39
cfg/sim/scene_14.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/chair/chair_028
|
||||
xyz: [-0.004109079949557781, -0.0005391123704612255, 0.29186055064201355]
|
||||
rpy: [-0.10971551478410467, 0.8384867550401243, 89.71397764053638]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_054
|
||||
xyz: [0.03123067505657673, -0.013880057260394096, 0.31161248683929443]
|
||||
rpy: [-78.45482991001406, 7.335170160251624, -27.440960618671234]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_125
|
||||
xyz: [0.002126286970451474, 0.04345492273569107, 0.3073907792568207]
|
||||
rpy: [-88.65777675068135, 9.275116772219972, -1.0831190293332358]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_028
|
||||
xyz: [0.04149894043803215, 0.08769883215427399, 0.2969461679458618]
|
||||
rpy: [-34.17391455462022, -28.49011113856144, 90.50927560780087]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_048
|
||||
xyz: [0.065407894551754, 0.05164383351802826, 0.30706658959388733]
|
||||
rpy: [-159.6449748462991, 34.7418925148199, -60.02597784682107]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/waffle/waffle_042
|
||||
xyz: [-0.04748834669589996, -0.023584259673953056, 0.3523070514202118]
|
||||
rpy: [-89.42138240233055, -9.393030468930547, -33.588584775245515]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_104
|
||||
xyz: [0.1502104252576828, -0.00234344694763422, 0.30890199542045593]
|
||||
rpy: [-89.70002797994358, -3.6009139117369546, -7.511399528618345]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_140.yaml
Normal file
44
cfg/sim/scene_140.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/table/table_025
|
||||
xyz: [-8.026696741580963e-05, 0.005663152784109116, 0.18924358487129211]
|
||||
rpy: [-0.41486975681305704, -0.011895397002164777, 90.63609420106684]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_050
|
||||
xyz: [-0.06511780619621277, 0.04320672154426575, 0.4669133126735687]
|
||||
rpy: [-89.69821410366458, 2.390895190112395, 4.54567529929124]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/garlic/garlic_032
|
||||
xyz: [0.07333948463201523, -0.06194121390581131, 0.47141385078430176]
|
||||
rpy: [-89.91522660384354, 0.0416363109286627, 0.02144777677306355]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_105
|
||||
xyz: [0.1623239368200302, 0.017323629930615425, 0.4710829257965088]
|
||||
rpy: [-90.09055457986084, -3.3241300427961997, 0.8585950940294221]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/soap/soap_037
|
||||
xyz: [0.12236615270376205, -0.07715655863285065, 0.47456228733062744]
|
||||
rpy: [-166.81865549450433, 33.103975631414244, 91.75546005334877]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_041
|
||||
xyz: [0.030077576637268066, -0.10455936193466187, 0.48001864552497864]
|
||||
rpy: [-67.89266332929915, 79.276306558444, 93.36153344286964]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_051
|
||||
xyz: [0.10886406153440475, 0.1201368197798729, 0.48961108922958374]
|
||||
rpy: [-91.0693807555395, -65.5520922730469, -14.76006113363169]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/knife/knife_031
|
||||
xyz: [0.05788026377558708, 0.08316181600093842, 0.4684375524520874]
|
||||
rpy: [80.90092891733626, 83.14135167719934, -13.557854892896971]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_141.yaml
Normal file
44
cfg/sim/scene_141.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/chair/chair_029
|
||||
xyz: [0.0010277070105075836, -0.013396093621850014, 0.47130998969078064]
|
||||
rpy: [0.48685294697889697, -0.2507679729392742, 88.58330063786765]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_045
|
||||
xyz: [-0.03306618332862854, -0.05609988048672676, 0.46863412857055664]
|
||||
rpy: [-148.74456461231276, 31.059053766324343, 17.45906889190255]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/apple/apple_063
|
||||
xyz: [-0.04057835787534714, 0.05032724514603615, 0.47457462549209595]
|
||||
rpy: [-89.55767274184713, 69.55044724627756, -0.9919543813282209]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_121
|
||||
xyz: [0.05811583250761032, 0.10185203701257706, 0.457631379365921]
|
||||
rpy: [-90.21018039839005, -1.1364163816943411, 4.4720439276307165]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lipstick/lipstick_031
|
||||
xyz: [0.19471262395381927, 0.03233695402741432, 0.4550175964832306]
|
||||
rpy: [81.19630737719426, -71.86947459178012, -173.5216931076628]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_116
|
||||
xyz: [-0.0222990233451128, -0.0014742894563823938, 0.46523040533065796]
|
||||
rpy: [-86.15789650395672, -2.50673474041548, -5.379893990063481]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/watch/watch_013
|
||||
xyz: [0.015602105297148228, -0.06377392262220383, 0.4670066237449646]
|
||||
rpy: [-38.48106695937003, -4.794431541447753, -15.675534175033329]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_049
|
||||
xyz: [0.20220260322093964, 0.1389920860528946, 0.45676231384277344]
|
||||
rpy: [-90.19022915016312, -1.3894302956960294, -1.1297820281548159]
|
||||
scale: 1.0
|
||||
24
cfg/sim/scene_142.yaml
Normal file
24
cfg/sim/scene_142.yaml
Normal file
@ -0,0 +1,24 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/sofa/sofa_014
|
||||
xyz: [-0.02558593451976776, 0.0038341358304023743, 0.34714609384536743]
|
||||
rpy: [-0.04182334639860427, 4.374079599340154, 90.6081033216679]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lemon/lemon_032
|
||||
xyz: [0.03247331827878952, -0.12638521194458008, 0.40096989274024963]
|
||||
rpy: [-131.13171433153298, 15.986134669356858, 12.069492615556413]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_028
|
||||
xyz: [0.033760931342840195, 0.30564990639686584, 0.14096935093402863]
|
||||
rpy: [36.2354235654222, 16.77856735146882, -17.44755838051226]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_039
|
||||
xyz: [0.33195120096206665, 0.052147045731544495, 0.41995924711227417]
|
||||
rpy: [-78.06386725260947, -15.402014638983596, -29.384609963067597]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_143.yaml
Normal file
44
cfg/sim/scene_143.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/blender/blender_cabinet_009
|
||||
xyz: [1.021847128868103e-05, 0.0002037305384874344, -0.04071876406669617]
|
||||
rpy: [-1.7363793458797614e-05, 0.005351669285509165, 89.89340909833088]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/cup/cup_035
|
||||
xyz: [-0.22733110189437866, -0.12424731254577637, 0.4475981295108795]
|
||||
rpy: [-90.70987461302713, -0.30219530713004306, -0.23777425466345964]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/popcorn/popcorn_038
|
||||
xyz: [-0.37302204966545105, 0.08999627083539963, 0.07509811222553253]
|
||||
rpy: [-80.93840204090287, 17.129848358380702, 11.708823317181377]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/banana/banana_044
|
||||
xyz: [-0.35506901144981384, 0.09952862560749054, 0.07927604019641876]
|
||||
rpy: [-77.32167993563299, -82.24655209116521, 29.835763259406775]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/pear/pear_035
|
||||
xyz: [-0.3162872791290283, 0.11783040314912796, 0.094289131462574]
|
||||
rpy: [91.98213714508358, -24.591600561077467, 61.61908217974948]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/apple/apple_067
|
||||
xyz: [0.1053616926074028, -0.04818316176533699, 0.0700959712266922]
|
||||
rpy: [-79.71590820663221, -0.1768073584199735, -1.4144152849094533]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/waffle/waffle_040
|
||||
xyz: [0.33327966928482056, 0.09630903601646423, 0.07857134938240051]
|
||||
rpy: [-51.948458937872395, 86.67084038215519, -113.34175034170694]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/soap/soap_037
|
||||
xyz: [0.2981374263763428, -0.07943663001060486, 0.07089786231517792]
|
||||
rpy: [-134.11510913470602, 7.200751670214983, -86.12300258245374]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_144.yaml
Normal file
44
cfg/sim/scene_144.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/picnic/picnic_basket_010
|
||||
xyz: [-0.0024866957683116198, -0.004135277587920427, 0.07680420577526093]
|
||||
rpy: [-0.03830419790983147, 1.9373122936696223, 86.88212755500562]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_031
|
||||
xyz: [-0.01264907792210579, -0.007664970587939024, 0.03135001286864281]
|
||||
rpy: [-92.99053541427749, 16.60150814525712, -7.594324772335929]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/soap/soap_037
|
||||
xyz: [0.052811041474342346, 0.007168488577008247, 0.03207935020327568]
|
||||
rpy: [-166.62718556466666, -15.197094388346496, -89.2377355287087]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_043
|
||||
xyz: [0.04001154750585556, 0.017269812524318695, 0.038814179599285126]
|
||||
rpy: [-160.49348326047033, 80.08762133564491, -46.393907061515165]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_041
|
||||
xyz: [-0.017490917816758156, 0.039843495935201645, 0.04326483979821205]
|
||||
rpy: [-109.223985697079, 27.33824986372209, 89.63309509890937]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/banana/banana_039
|
||||
xyz: [0.01342493761330843, -0.0035354946739971638, 0.06844569742679596]
|
||||
rpy: [-79.28780435861152, -53.22862849628143, 54.459887510229095]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/garlic/garlic_032
|
||||
xyz: [-0.030405210331082344, -0.0362040139734745, 0.0383140929043293]
|
||||
rpy: [-94.77911626831835, 2.5287645210902534, -2.2226577641872862]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/garlic/garlic_033
|
||||
xyz: [-0.06327944993972778, -0.03211160749197006, 0.04982692375779152]
|
||||
rpy: [33.97431096313121, 10.973475362385829, -4.252229282527363]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_145.yaml
Normal file
39
cfg/sim/scene_145.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/flower/flower_pot_021
|
||||
xyz: [0.0008588162017986178, -0.003602441633120179, -0.0016482064966112375]
|
||||
rpy: [5.954806303641024, -0.6167621582534295, 89.57552400730665]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_042
|
||||
xyz: [-0.027742568403482437, 0.010384855791926384, -0.0292501337826252]
|
||||
rpy: [147.43692215633388, -34.07182983144125, -56.79631247468763]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/popcorn/popcorn_041
|
||||
xyz: [-0.02216838113963604, -0.018478376790881157, -0.043672338128089905]
|
||||
rpy: [56.549402651582454, 47.69262436142442, 106.20038528594006]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_029
|
||||
xyz: [0.02487366646528244, -0.015719037503004074, -0.04028420150279999]
|
||||
rpy: [172.08904453018837, -34.33488379092243, -86.89302221957011]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_028
|
||||
xyz: [0.007189997471868992, -0.03185413405299187, -0.04116695001721382]
|
||||
rpy: [157.03084231006576, 15.15277759778216, 81.5949633240164]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_037
|
||||
xyz: [0.008060839958488941, 0.00045572826638817787, -0.03523688390851021]
|
||||
rpy: [162.2546019346919, -55.92817231098376, -108.94567902320915]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/garlic/garlic_033
|
||||
xyz: [-0.009956645779311657, -0.0015655657043680549, -0.039502352476119995]
|
||||
rpy: [-17.243278737298905, -86.86424686364323, 18.754294359783387]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_146.yaml
Normal file
44
cfg/sim/scene_146.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/blender/blender_cabinet_003
|
||||
xyz: [-8.365605026483536e-07, 5.781650543212891e-06, -0.005629062652587891]
|
||||
rpy: [0.0004457731166642826, -6.608704094882115e-08, 90.0000144890174]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_030
|
||||
xyz: [0.4833507239818573, 0.020986728370189667, 0.9295749068260193]
|
||||
rpy: [151.03230562588004, 43.03990789561718, -92.61541911439636]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/apple/apple_063
|
||||
xyz: [-0.11134027689695358, -0.09375812113285065, 0.9469237923622131]
|
||||
rpy: [-144.62092424778274, 37.01059336325376, -14.617895521715981]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_045
|
||||
xyz: [-0.4252392053604126, -0.20724640786647797, 0.1816578507423401]
|
||||
rpy: [179.06762208596976, 75.30218400166594, 94.38973372166447]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_109
|
||||
xyz: [-0.06752597540616989, -0.20906782150268555, 0.18732474744319916]
|
||||
rpy: [-89.636525604012, -3.4614317512571278, -5.182491637397236]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bowl/bowl_016
|
||||
xyz: [0.25990772247314453, 0.10484921187162399, 0.9608046412467957]
|
||||
rpy: [-81.29465098492335, 13.926764172401498, 86.47369123380436]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_113
|
||||
xyz: [-0.13906894624233246, -0.03740066662430763, 0.18705631792545319]
|
||||
rpy: [72.21275537170186, 15.562786850040169, 179.40219505189376]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/ginger/ginger_034
|
||||
xyz: [0.07581686228513718, -0.20778493583202362, 0.9301902055740356]
|
||||
rpy: [-93.95183006763644, -3.2969997476297603, -2.9281247522594938]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_147.yaml
Normal file
39
cfg/sim/scene_147.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/chair/chair_026
|
||||
xyz: [-0.010126289911568165, -0.0013341247104108334, 0.2390231043100357]
|
||||
rpy: [0.0259008550241392, 1.957758636833706, 89.89758930096077]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_043
|
||||
xyz: [0.08253344893455505, -0.008739631623029709, 0.00807178020477295]
|
||||
rpy: [98.51589323049164, 70.48633405505397, 97.12492968989974]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_121
|
||||
xyz: [-0.0292312353849411, -0.0024740209337323904, 0.008208317682147026]
|
||||
rpy: [-90.38072704199138, 7.436668830370579, -5.000281152842819]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/pear/pear_036
|
||||
xyz: [-0.015013562515377998, -0.011680157855153084, 0.2979338765144348]
|
||||
rpy: [-79.87959086019183, 4.973223824163718, -39.90474638504268]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/banana/banana_038
|
||||
xyz: [0.02930700033903122, 0.03230234980583191, 0.2816987633705139]
|
||||
rpy: [-90.41211718849213, -0.7831304078381246, -0.385455750979099]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_053
|
||||
xyz: [0.10125703364610672, -0.042896587401628494, 0.29467082023620605]
|
||||
rpy: [-74.63460237097976, 23.68350617155857, 2.116921173021275]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_041
|
||||
xyz: [0.1191525012254715, 0.051260750740766525, 0.29361703991889954]
|
||||
rpy: [-93.02425499082258, -4.466448044116764, 5.972380256008215]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_148.yaml
Normal file
39
cfg/sim/scene_148.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/sofa/sofa_014
|
||||
xyz: [-0.022231895476579666, 0.00562908872961998, 0.33978521823883057]
|
||||
rpy: [-0.00922933546660446, 3.8378018149976056, 90.92741684896832]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/popcorn/popcorn_038
|
||||
xyz: [0.3185400068759918, -0.14187538623809814, 0.40157249569892883]
|
||||
rpy: [-88.29475051578633, 12.673987940355344, 18.05440001380102]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_129
|
||||
xyz: [0.4304436445236206, -0.00019813234393950552, 0.3892529010772705]
|
||||
rpy: [-89.61263719808296, 3.661842313746053, 15.805744814487403]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/pear/pear_035
|
||||
xyz: [0.31354451179504395, 0.004840207286179066, 0.40115347504615784]
|
||||
rpy: [-78.05523258629049, -3.5118360506802744, -76.58471769831581]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_130
|
||||
xyz: [0.4132820963859558, -0.16253328323364258, 0.3953234851360321]
|
||||
rpy: [-90.41871692817989, -0.3426897314667908, 10.098326235789289]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_038
|
||||
xyz: [0.23649881780147552, 0.2673048675060272, 0.3632514178752899]
|
||||
rpy: [89.70577997608936, 70.42519455919245, 169.93375778449325]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lemon/lemon_031
|
||||
xyz: [0.35573267936706543, -0.12371890246868134, 0.41807106137275696]
|
||||
rpy: [-89.55421688828596, 7.112200133735136, -5.238031195519065]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_149.yaml
Normal file
39
cfg/sim/scene_149.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/blender/blender_cabinet_005
|
||||
xyz: [2.75962520390749e-07, -9.5367431640625e-07, -0.005999952554702759]
|
||||
rpy: [1.5249400455860186e-05, 4.585453252641768e-06, 89.99995653294765]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_055
|
||||
xyz: [0.18117955327033997, 0.11467741429805756, 0.7563880085945129]
|
||||
rpy: [-88.15512874291498, -0.5787479160176578, 179.80122603329855]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_051
|
||||
xyz: [-0.11482212692499161, 0.06162476912140846, 0.7804456353187561]
|
||||
rpy: [-92.48941729345292, -3.417071468468542, -4.514252993729286]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/waffle/waffle_042
|
||||
xyz: [0.036764707416296005, 0.04344446584582329, 0.7944807410240173]
|
||||
rpy: [-89.73873292595283, -3.7038535338732963, -0.8550684665370547]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_043
|
||||
xyz: [-0.035710763186216354, 0.08410875499248505, 0.771929919719696]
|
||||
rpy: [-141.34212413419488, 49.93828272312, 163.95763101952755]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_039
|
||||
xyz: [0.15023314952850342, 0.15935872495174408, 0.7573385834693909]
|
||||
rpy: [-144.03674425247146, -82.59776725495821, 106.97035996658452]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lemon/lemon_030
|
||||
xyz: [-0.010737151838839054, 0.19881325960159302, 0.11342285573482513]
|
||||
rpy: [-99.99263858886974, 53.25247962626946, -26.783740966502116]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_15.yaml
Normal file
39
cfg/sim/scene_15.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/chair/chair_028
|
||||
xyz: [-0.0068908389657735825, 0.005315959919244051, 0.22069703042507172]
|
||||
rpy: [1.7886940604406145, 1.01981032172009, 89.94713459186843]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_114
|
||||
xyz: [0.008980791084468365, 0.07558994740247726, 0.2308768779039383]
|
||||
rpy: [11.011894411740208, 11.353458522097622, 152.3866433619816]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_115
|
||||
xyz: [0.04214617237448692, 0.10601552575826645, 0.23250775039196014]
|
||||
rpy: [83.20043939487029, -10.314548853298982, -177.60985707120096]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_120
|
||||
xyz: [0.11285210400819778, -0.07488349825143814, 0.22921115159988403]
|
||||
rpy: [-89.49948184622092, 4.498975090794982, -9.099756342937475]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_041
|
||||
xyz: [0.15021200478076935, 0.09884239733219147, 0.23815606534481049]
|
||||
rpy: [8.284258796440458, 79.99516936338651, 110.00644636249444]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/tomato/tomato_030
|
||||
xyz: [-0.04284593090415001, 0.041140712797641754, 0.256274938583374]
|
||||
rpy: [-9.592290990627584, -68.86805058250192, -125.56497138835732]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/apple/apple_060
|
||||
xyz: [-0.008709152229130268, -0.022433513775467873, 0.23665982484817505]
|
||||
rpy: [-53.995144869912664, -29.051497741486138, 168.64676150555815]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_150.yaml
Normal file
44
cfg/sim/scene_150.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/picnic/picnic_basket_010
|
||||
xyz: [-0.007211644202470779, -0.005261936690658331, 0.13037478923797607]
|
||||
rpy: [-2.3295148155208287, 1.9347475765961288, 85.94771456929158]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/walnut/walnut_039
|
||||
xyz: [-0.009892363101243973, -7.200572872534394e-05, -484.1174011230469]
|
||||
rpy: [-89.94467443071152, 2.857995117787439, 3.057133936492105]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_028
|
||||
xyz: [0.054453663527965546, 0.009181700646877289, 0.08868227899074554]
|
||||
rpy: [27.100072308109137, -41.772137169403685, -81.07805802709147]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_103
|
||||
xyz: [-0.01686488837003708, -0.001681653200648725, -465.76171875]
|
||||
rpy: [-89.79700923020756, -2.0280090472833, 1.2412717413152803]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/walnut/walnut_037
|
||||
xyz: [0.04739036038517952, -0.027720557525753975, 0.09958778321743011]
|
||||
rpy: [-112.10527520162887, -23.007904485240168, 146.6992436414113]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/apple/apple_064
|
||||
xyz: [-0.05128205195069313, -0.02277335152029991, 0.10916578769683838]
|
||||
rpy: [-54.287010054101785, -27.79728540607287, -65.51712658849722]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_113
|
||||
xyz: [-0.04088623821735382, 0.02668575756251812, -437.513671875]
|
||||
rpy: [-90.0, -2.8298860600578126e-07, -1.3206135324750646e-07]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_130
|
||||
xyz: [0.029611026868224144, 0.02378569170832634, -428.2917175292969]
|
||||
rpy: [-90.0, 7.07472405569764e-09, -3.0657102445228404e-08]
|
||||
scale: 1.0
|
||||
29
cfg/sim/scene_151.yaml
Normal file
29
cfg/sim/scene_151.yaml
Normal file
@ -0,0 +1,29 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/table/table_025
|
||||
xyz: [0.0005137072876095772, 0.0019848868250846863, 0.2338661551475525]
|
||||
rpy: [-0.14980946631946293, -0.011931462735174224, 90.63614521717702]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/waffle/waffle_040
|
||||
xyz: [0.04957124590873718, -0.06646452844142914, 0.5208320617675781]
|
||||
rpy: [174.24276321743253, 84.85605437573066, 96.25019894295217]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lipstick/lipstick_030
|
||||
xyz: [-0.03159291297197342, 0.09588027745485306, 0.5164417028427124]
|
||||
rpy: [85.65433972074038, 57.80907522412987, 176.99645688176233]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_039
|
||||
xyz: [-0.06505878269672394, 0.04120251163840294, 0.30479568243026733]
|
||||
rpy: [-21.753807488536758, 78.43705006196089, 94.40753778194599]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/pear/pear_038
|
||||
xyz: [0.13596487045288086, -0.0666000247001648, 0.5278619527816772]
|
||||
rpy: [-90.04905514146871, 5.569813747471286, -2.2267856466728766]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_152.yaml
Normal file
44
cfg/sim/scene_152.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/picnic/picnic_basket_010
|
||||
xyz: [-0.0024944983888417482, -0.003906389232724905, 0.06587576121091843]
|
||||
rpy: [-0.12304522966534465, 1.9469665651636454, 86.95744150032412]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_113
|
||||
xyz: [0.036903612315654755, -0.011703168973326683, 0.019029028713703156]
|
||||
rpy: [-104.79429703709195, -0.444244458889499, 7.759887855995107]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/cup/cup_039
|
||||
xyz: [0.0034624047111719847, -0.05020708218216896, 0.03326928988099098]
|
||||
rpy: [-88.62444419086178, -48.67379006439277, -41.31062137497005]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lemon/lemon_029
|
||||
xyz: [0.003522756276652217, 0.01941141113638878, 0.045621201395988464]
|
||||
rpy: [-97.34683047958879, 27.67788350074799, -36.20698182213556]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_031
|
||||
xyz: [0.00770959910005331, -0.027196556329727173, 0.02260415069758892]
|
||||
rpy: [-151.3458205220351, 36.500547427992025, -17.222070521790677]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/carrot/carrot_040
|
||||
xyz: [-0.047993164509534836, -0.022112922742962837, 0.023465096950531006]
|
||||
rpy: [146.67846289002713, -58.089262079313286, 149.83865431174004]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/tomato/tomato_028
|
||||
xyz: [0.05640890449285507, 0.006923242472112179, 0.04016055166721344]
|
||||
rpy: [-28.28470255776326, 63.74394086966643, 92.78957616319693]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_042
|
||||
xyz: [-0.040546219795942307, 0.026686333119869232, 0.04090595990419388]
|
||||
rpy: [-111.48536868258907, 9.359029792109999, -98.43695726272178]
|
||||
scale: 1.0
|
||||
34
cfg/sim/scene_153.yaml
Normal file
34
cfg/sim/scene_153.yaml
Normal file
@ -0,0 +1,34 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/blender/blender_cabinet_005
|
||||
xyz: [1.501757651567459e-08, 1.6391277313232422e-06, -0.005999892950057983]
|
||||
rpy: [-3.364498960262012e-05, 1.6318968325159548e-06, 89.99998551098187]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/waffle/waffle_042
|
||||
xyz: [-0.17304196953773499, 0.20670060813426971, 0.7649368643760681]
|
||||
rpy: [-1.8534171634558776, 84.81552628380709, 97.03665111004051]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/ginger/ginger_036
|
||||
xyz: [0.006988895125687122, 0.06339641660451889, 0.11286270618438721]
|
||||
rpy: [117.09644932573032, -35.06471216297627, -174.20023637569375]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bottle/bottle_055
|
||||
xyz: [-0.11302602291107178, 0.06772360950708389, 0.7898411750793457]
|
||||
rpy: [-84.26826149044705, -67.14615366230001, -10.856208618729593]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_040
|
||||
xyz: [0.06316816806793213, 0.13611455261707306, 0.769662618637085]
|
||||
rpy: [-90.01542571579945, -9.050060907336126, 15.034323620586207]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lemon/lemon_031
|
||||
xyz: [-0.10923565924167633, 0.21810375154018402, 0.7756190299987793]
|
||||
rpy: [161.6383306447226, 38.91381481932909, 172.35155376120662]
|
||||
scale: 1.0
|
||||
29
cfg/sim/scene_154.yaml
Normal file
29
cfg/sim/scene_154.yaml
Normal file
@ -0,0 +1,29 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/chair/chair_026
|
||||
xyz: [-0.007875494658946991, 0.0005903143901377916, 0.25563710927963257]
|
||||
rpy: [-0.028142134166678448, 1.9813921683193423, 89.92520738196606]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/pear/pear_035
|
||||
xyz: [0.09641721844673157, -0.09776753932237625, 0.30564993619918823]
|
||||
rpy: [-113.29871146483492, -1.2253500310666376, -71.53741195057908]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_050
|
||||
xyz: [0.0564885213971138, -0.05319371074438095, 0.31574031710624695]
|
||||
rpy: [-86.71296364501274, 13.2974173637656, -6.347184748511395]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_107
|
||||
xyz: [-0.04454685375094414, -0.012621539644896984, 0.2919691205024719]
|
||||
rpy: [-90.03871081703582, 2.008297110646814, 0.0997718720100435]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_103
|
||||
xyz: [0.0697580873966217, 0.0063666896894574165, 0.28778767585754395]
|
||||
rpy: [-96.8049928108853, -0.3074170236521529, -1.9588793228588381]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_155.yaml
Normal file
44
cfg/sim/scene_155.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/table/table_028
|
||||
xyz: [2.551823854446411e-07, -1.862645149230957e-09, 0.28144803643226624]
|
||||
rpy: [2.0925829732572302e-05, -5.486445744472056e-06, 90.00001931869001]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_117
|
||||
xyz: [-0.02294354885816574, 0.14540855586528778, 0.3788658082485199]
|
||||
rpy: [-87.89966217435317, 2.2064684971390482, 8.177109864635195]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/walnut/walnut_037
|
||||
xyz: [-0.1580510139465332, 0.27412310242652893, 0.3994295001029968]
|
||||
rpy: [-94.57816362655468, -8.756111162165944, 24.893217754029138]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/cup/cup_033
|
||||
xyz: [-0.10964617133140564, 0.1173204705119133, 0.41891708970069885]
|
||||
rpy: [127.88438963081359, -50.34567862766914, 170.39080559031925]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/waffle/waffle_041
|
||||
xyz: [-0.08466582745313644, 0.34169790148735046, 0.3902488350868225]
|
||||
rpy: [113.61938504261276, -87.94317983166344, 151.7355894569078]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_045
|
||||
xyz: [0.08150611817836761, 0.13531990349292755, 0.39605313539505005]
|
||||
rpy: [-85.32731556762106, 28.841736022398873, 15.61942803805955]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_116
|
||||
xyz: [0.11997456848621368, -0.008004352450370789, 0.390927791595459]
|
||||
rpy: [-88.74167909788476, -14.694254802932267, -4.321294792814743]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bottle/bottle_059
|
||||
xyz: [-0.12502136826515198, -0.17549794912338257, 0.4197307527065277]
|
||||
rpy: [95.27264452526931, -53.544736820272895, 178.2169947953876]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_156.yaml
Normal file
44
cfg/sim/scene_156.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/picnic/picnic_basket_011
|
||||
xyz: [-0.00018460862338542938, 0.0008695388678461313, 0.0922655463218689]
|
||||
rpy: [-0.03356894755030076, 0.18568909251948887, 90.64999494782087]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_030
|
||||
xyz: [-0.04058270528912544, -0.08970452845096588, 0.18126989901065826]
|
||||
rpy: [-159.21628418619298, -88.5372657907968, 77.69749887977915]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/cup/cup_039
|
||||
xyz: [-0.040045786648988724, 0.04809919744729996, 0.1880495548248291]
|
||||
rpy: [-109.59569067765571, -66.28148020266862, 28.422586310333944]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_044
|
||||
xyz: [-0.02624758519232273, -0.15166263282299042, 0.19304171204566956]
|
||||
rpy: [-12.424823162138857, 50.74691027000606, -65.96221571379182]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/apple/apple_065
|
||||
xyz: [0.05636833980679512, 0.04005049169063568, 0.20753251016139984]
|
||||
rpy: [36.056017459224584, 52.896993698957004, 103.62110001866486]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/waffle/waffle_042
|
||||
xyz: [0.017232976853847504, -0.10687129944562912, 0.19437086582183838]
|
||||
rpy: [-166.4861644801805, -72.04222341277082, 73.76919141300758]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/tomato/tomato_030
|
||||
xyz: [-0.04315349459648132, -0.0036147870123386383, 0.20172405242919922]
|
||||
rpy: [-126.50978306335426, 56.139587579102056, -44.952651647791015]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/banana/banana_040
|
||||
xyz: [0.046008750796318054, -0.015984004363417625, 0.1993657499551773]
|
||||
rpy: [-100.42752267711947, -42.38261749658287, 84.18337535978337]
|
||||
scale: 1.0
|
||||
24
cfg/sim/scene_157.yaml
Normal file
24
cfg/sim/scene_157.yaml
Normal file
@ -0,0 +1,24 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/cabinet/cabinet_009
|
||||
xyz: [0.006613031029701233, -0.009521213360130787, 0.4033784866333008]
|
||||
rpy: [0.12609585752018654, -0.9603921295927454, 88.61153612319981]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_043
|
||||
xyz: [-0.0874258503317833, -0.022368192672729492, 0.8732126951217651]
|
||||
rpy: [-83.10081246249243, -13.471850055377518, -5.089671565217387]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/popcorn/popcorn_041
|
||||
xyz: [-0.03645685687661171, -0.029869239777326584, 0.8642703294754028]
|
||||
rpy: [-98.2186153294371, 14.255923345170386, -76.2469022818315]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_044
|
||||
xyz: [0.12299270182847977, -0.013452928513288498, 0.8778173923492432]
|
||||
rpy: [-85.95803621372524, -36.992023374031284, -22.488873472137268]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_158.yaml
Normal file
44
cfg/sim/scene_158.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/table/table_026
|
||||
xyz: [3.075692802667618e-07, 4.470348358154297e-08, 0.41001278162002563]
|
||||
rpy: [3.2689906995088055e-05, -3.454819629011211e-05, 89.99999517031718]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/pear/pear_039
|
||||
xyz: [-0.11823217570781708, 0.25827208161354065, -0.002999996766448021]
|
||||
rpy: [102.25384446529016, -0.8388206510791375, -175.91355977534633]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lipstick/lipstick_029
|
||||
xyz: [0.02464556321501732, -0.020186828449368477, 0.0639805719256401]
|
||||
rpy: [-84.33531922718983, 0.23923496111997172, 19.574193789798336]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/popcorn/popcorn_040
|
||||
xyz: [0.15391670167446136, -0.06413426995277405, 0.017590753734111786]
|
||||
rpy: [-89.62647285262234, 9.312219578305871, 28.22059065800986]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/waffle/waffle_041
|
||||
xyz: [-0.04087354242801666, -0.25838935375213623, 0.7637513875961304]
|
||||
rpy: [-89.75951181827419, -1.8143137687504174, 0.19171531073631112]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_042
|
||||
xyz: [-0.061499375849962234, -0.16316695511341095, 0.733877420425415]
|
||||
rpy: [-90.47556050753437, -13.34615306189951, -20.0539607459729]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_052
|
||||
xyz: [-0.23331201076507568, -0.053612083196640015, 0.7588707804679871]
|
||||
rpy: [-96.47636852751609, -44.483123344920635, 7.111245851793166]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/pear/pear_035
|
||||
xyz: [-0.07639794051647186, 0.08587571978569031, 0.02955751121044159]
|
||||
rpy: [158.85689846002978, -29.531367548484205, -104.11579909397938]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_159.yaml
Normal file
44
cfg/sim/scene_159.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/table/table_028
|
||||
xyz: [-6.761401891708374e-07, 3.8743019104003906e-07, 0.28144797682762146]
|
||||
rpy: [-6.454779215565039e-05, 1.1055772062166562e-06, 90.00000965934488]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bottle/bottle_061
|
||||
xyz: [0.06598328053951263, 0.05034696310758591, 0.3816160559654236]
|
||||
rpy: [-106.26634843870832, 7.663351137929093, -0.8318745871009435]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/pear/pear_035
|
||||
xyz: [0.0916512981057167, 0.07401371002197266, 0.38810834288597107]
|
||||
rpy: [-94.59668128067872, -0.1025734044198834, -89.20256245008441]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bottle/bottle_060
|
||||
xyz: [-0.15527865290641785, 0.2559899091720581, 0.40196672081947327]
|
||||
rpy: [-90.27392727945374, -10.831156369431481, 6.416334051913507]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_119
|
||||
xyz: [0.11694023013114929, -0.06424709409475327, 0.38457104563713074]
|
||||
rpy: [-89.53680598543195, -3.301970837936419, -3.7024554097732527]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bottle/bottle_055
|
||||
xyz: [-0.09255373477935791, 0.02298860251903534, 0.4148308336734772]
|
||||
rpy: [-88.36629840694457, 8.32448627735636, -1.8415288567502723]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_044
|
||||
xyz: [0.16336087882518768, 0.11167734116315842, 0.2774600088596344]
|
||||
rpy: [-97.69460050839615, -31.436585888920263, 20.10263093016834]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/apple/apple_060
|
||||
xyz: [-0.12026458978652954, 0.09886189550161362, 0.4148847162723541]
|
||||
rpy: [-93.63837276667297, 2.232598560448219, 13.163530509168739]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_16.yaml
Normal file
44
cfg/sim/scene_16.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/blender/blender_cabinet_009
|
||||
xyz: [4.63961623609066e-06, 1.126900315284729e-05, -0.0165444016456604]
|
||||
rpy: [-3.325805754301636e-06, 0.03720076526507615, 89.91797764942648]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_028
|
||||
xyz: [0.3201757073402405, -0.11267474293708801, 0.09460552036762238]
|
||||
rpy: [46.35488130016874, -4.658732843342981, -91.78265959956357]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/tomato/tomato_029
|
||||
xyz: [0.16963668167591095, 0.10650677978992462, 0.12315107136964798]
|
||||
rpy: [25.833195869795023, 47.49089017156414, 13.018900810186793]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_109
|
||||
xyz: [0.32047492265701294, 0.12458456307649612, 0.09277015179395676]
|
||||
rpy: [71.03648745798134, 1.285276359049046, -177.99027065600825]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lipstick/lipstick_030
|
||||
xyz: [0.018951034173369408, 0.12269338220357895, 1.1947097778320312]
|
||||
rpy: [-89.99982876909563, 0.029254485265217307, -0.029248662609360168]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/ginger/ginger_034
|
||||
xyz: [-0.3124663531780243, 0.04341449588537216, 1.2047185897827148]
|
||||
rpy: [-89.71053404216258, 0.22040059358221606, -5.733361097148963]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bottle/bottle_054
|
||||
xyz: [0.2824081480503082, 0.09035076200962067, 0.16055527329444885]
|
||||
rpy: [13.06716138094517, 39.87635013771693, 130.69471671668117]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_031
|
||||
xyz: [-0.3103030025959015, 0.07148830592632294, 0.09672661870718002]
|
||||
rpy: [55.891118814740885, -28.04862356315051, 178.37267865039436]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_160.yaml
Normal file
44
cfg/sim/scene_160.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/table/table_028
|
||||
xyz: [-1.0803341865539551e-07, -2.7939677238464355e-08, 0.2213040292263031]
|
||||
rpy: [-7.54592150904137e-06, 7.546806484513721e-06, 90.00000482967248]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bowl/bowl_016
|
||||
xyz: [0.04690094664692879, -0.22155198454856873, 0.3527117967605591]
|
||||
rpy: [-69.51316302363324, 33.461740761428594, 93.74992788189314]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lemon/lemon_030
|
||||
xyz: [0.1126175969839096, -0.04916217923164368, 0.347688764333725]
|
||||
rpy: [-106.86867005542238, -8.730306307813706, -2.8800325750012656]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_049
|
||||
xyz: [-0.07772257924079895, 0.2937733232975006, 0.3340618908405304]
|
||||
rpy: [-167.03052589170397, -88.36221530860014, 94.91045906994563]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/tomato/tomato_030
|
||||
xyz: [0.05125059187412262, -0.07040944695472717, 0.33970189094543457]
|
||||
rpy: [-66.31384421930348, 27.979316702682397, 70.67829611552747]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/apple/apple_060
|
||||
xyz: [-0.009394695051014423, -0.2875072956085205, 0.35151761770248413]
|
||||
rpy: [-97.8718092478265, 38.076223831490196, -19.01190654135029]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_110
|
||||
xyz: [0.06991378962993622, 0.22846491634845734, 0.3195020258426666]
|
||||
rpy: [-85.6160487352487, -6.588234997613493, -3.5834341566795658]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/walnut/walnut_039
|
||||
xyz: [-0.04567811265587807, 0.2608736455440521, 0.33287903666496277]
|
||||
rpy: [-69.70650387630666, 27.829742809336153, 63.01083642710717]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_161.yaml
Normal file
39
cfg/sim/scene_161.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/sofa/sofa_013
|
||||
xyz: [-0.0030416434165090322, -0.0035518710501492023, 0.3673894703388214]
|
||||
rpy: [0.005538325544697483, 0.51484481209908, 89.41330776326706]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/cup/cup_034
|
||||
xyz: [0.15486076474189758, 0.4666982591152191, 0.4205235540866852]
|
||||
rpy: [-93.7221241095778, -75.55748826692097, 4.771449175142283]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_046
|
||||
xyz: [-0.0069602131843566895, 0.3294065594673157, 0.40776851773262024]
|
||||
rpy: [-79.30999575783213, 40.61191252284904, -19.924189570530277]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/cup/cup_039
|
||||
xyz: [0.355564683675766, -0.33841440081596375, 0.4255219101905823]
|
||||
rpy: [26.971936884936536, -50.982541791037, 163.3425733925909]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/popcorn/popcorn_041
|
||||
xyz: [-0.12134931981563568, 0.08505426347255707, 0.38850870728492737]
|
||||
rpy: [-86.57776377602637, 16.25301754854276, -79.06927834140615]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_130
|
||||
xyz: [0.1612061709165573, -0.0816158801317215, 0.3942036032676697]
|
||||
rpy: [-89.98062877782247, -0.3687449091187942, 1.4641022923778717]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_124
|
||||
xyz: [0.23894286155700684, 0.4756412208080292, 0.3840479552745819]
|
||||
rpy: [-62.08501799899642, 7.968012874692449, -174.15579833516753]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_162.yaml
Normal file
39
cfg/sim/scene_162.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/blender/blender_cabinet_007
|
||||
xyz: [1.019798219203949e-07, 4.2654573917388916e-07, 2.9802322387695312e-08]
|
||||
rpy: [4.914537719141164e-05, 0.00018279038311219052, 90.00054092342688]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/banana/banana_045
|
||||
xyz: [-0.18834681808948517, -0.16000153124332428, 0.146682009100914]
|
||||
rpy: [63.07133998914644, 74.32416006686039, -69.53297967712255]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bottle/bottle_061
|
||||
xyz: [-0.5935471057891846, -0.017665736377239227, 0.13730134069919586]
|
||||
rpy: [-89.65298517643227, -5.0559969826393, -30.390203858944165]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_103
|
||||
xyz: [0.215946763753891, -0.16886112093925476, 0.7584405541419983]
|
||||
rpy: [-97.71185750364951, 26.669173261261914, -2.5269374961835607]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_042
|
||||
xyz: [-0.1446520835161209, 0.1492021083831787, 0.12998931109905243]
|
||||
rpy: [84.20027616924693, 86.1088643494997, 108.82761241633145]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/popcorn/popcorn_040
|
||||
xyz: [0.6812019348144531, -0.25429221987724304, 0.06955869495868683]
|
||||
rpy: [95.90562105764435, -35.7215758266505, -79.76708633400649]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_028
|
||||
xyz: [-0.4131260812282562, -0.09774454683065414, 0.13010743260383606]
|
||||
rpy: [119.92629159193068, 59.63344804588897, 86.87314086954099]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_163.yaml
Normal file
39
cfg/sim/scene_163.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/blender/blender_cabinet_007
|
||||
xyz: [1.0174699127674103e-07, 4.367902874946594e-07, 5.960464477539063e-08]
|
||||
rpy: [4.9035268567848564e-05, 0.00018102008334859988, 90.00054092342596]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/corn/corn_032
|
||||
xyz: [0.42222869396209717, -0.063190758228302, 1.0121554136276245]
|
||||
rpy: [-86.38474317498013, 17.758628248483973, 0.0603697624675931]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/walnut/walnut_039
|
||||
xyz: [0.5512241125106812, -0.08586511015892029, 0.1385641247034073]
|
||||
rpy: [-137.12208160416841, 85.31202731982033, -65.52932589923189]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_112
|
||||
xyz: [0.3912886679172516, -0.1729152649641037, 0.157847061753273]
|
||||
rpy: [-90.11172322289872, -11.063866282557113, -1.4908216799956167]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/apple/apple_060
|
||||
xyz: [0.6156103610992432, 0.14927257597446442, 0.17193274199962616]
|
||||
rpy: [-90.44768822430298, 4.250963024590719, 0.744567488225817]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_040
|
||||
xyz: [0.23181280493736267, -0.18762226402759552, 1.0706110000610352]
|
||||
rpy: [-92.32892534851442, 18.635078845619137, -11.871472516362614]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/cup/cup_037
|
||||
xyz: [-0.6357179880142212, 0.10920548439025879, 0.16479191184043884]
|
||||
rpy: [-90.13197766194736, -0.35956322688903375, 13.15135080339903]
|
||||
scale: 1.0
|
||||
19
cfg/sim/scene_164.yaml
Normal file
19
cfg/sim/scene_164.yaml
Normal file
@ -0,0 +1,19 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/chair/chair_028
|
||||
xyz: [0.10982225090265274, -0.0024874620139598846, 0.21601024270057678]
|
||||
rpy: [3.397781784616623, 7.066915743555858, 174.7350603676256]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_055
|
||||
xyz: [-0.10636552423238754, -0.03803205490112305, 0.07103585451841354]
|
||||
rpy: [-58.38443995803254, 0.2793834466454195, 2.9844635775827033]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/cup/cup_039
|
||||
xyz: [-0.09021461009979248, 0.022640734910964966, 0.08898279815912247]
|
||||
rpy: [-107.66197040037851, 24.551567923761638, 56.69184163050107]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_165.yaml
Normal file
39
cfg/sim/scene_165.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/chair/chair_029
|
||||
xyz: [0.0010277023538947105, -0.013396093621850014, 0.47130998969078064]
|
||||
rpy: [0.48685294697889697, -0.2507679729392742, 88.58330063786765]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_045
|
||||
xyz: [-0.056289270520210266, 0.03806056082248688, 0.45801714062690735]
|
||||
rpy: [48.3457765184247, 77.60073634854211, 76.98082879159365]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_104
|
||||
xyz: [0.14116813242435455, 0.04091213271021843, 0.4657316505908966]
|
||||
rpy: [-50.27112026614858, 35.757404857708785, 12.685544226192834]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bowl/bowl_015
|
||||
xyz: [0.23891527950763702, -0.14628931879997253, 0.4859206974506378]
|
||||
rpy: [-88.00034920288961, -1.42284695718902, 90.21312762806468]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/cup/cup_036
|
||||
xyz: [0.12786836922168732, 0.10203122347593307, 0.487877756357193]
|
||||
rpy: [53.73362156804364, 66.84124867400743, 140.04264168297493]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_130
|
||||
xyz: [-0.021651890128850937, -0.046081751585006714, 0.4541776180267334]
|
||||
rpy: [-89.96474349750514, -1.1361152782988015, 3.2459217380078345]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lemon/lemon_031
|
||||
xyz: [0.23852810263633728, -0.03745409846305847, 0.4728942811489105]
|
||||
rpy: [-90.65132308882008, 3.4262750447659704, -7.444873691491968]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_166.yaml
Normal file
44
cfg/sim/scene_166.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/table/table_028
|
||||
xyz: [7.972121238708496e-07, 3.5762786865234375e-07, 0.2924479842185974]
|
||||
rpy: [-6.121236206011686e-05, -2.4235174875320016e-05, 90.0000048296859]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_115
|
||||
xyz: [0.07363954931497574, -0.057041533291339874, 0.39432671666145325]
|
||||
rpy: [-89.99837412995514, -5.197644934758231, -3.110758032628319]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/apple/apple_059
|
||||
xyz: [0.08681751042604446, 0.1441427767276764, 0.42098498344421387]
|
||||
rpy: [-87.40875539813872, -18.516960120648626, 10.2499809623223]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/ginger/ginger_034
|
||||
xyz: [0.008549260906875134, 0.045980263501405716, 0.39013218879699707]
|
||||
rpy: [-89.9044600032011, -2.1864969276406963, -5.936522035270008]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_108
|
||||
xyz: [-0.04635467752814293, 0.10622137784957886, 0.4046671688556671]
|
||||
rpy: [-85.04239459825955, -25.749584042110644, 0.47151642614952355]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_124
|
||||
xyz: [-0.0769597589969635, -0.08142542093992233, 0.3908768892288208]
|
||||
rpy: [-89.90433385638283, -0.0057143966720865, 0.000649678598629883]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/walnut/walnut_038
|
||||
xyz: [0.1819119155406952, 0.31320300698280334, 0.39786943793296814]
|
||||
rpy: [147.26894253321817, 0.0025332706824705477, -179.99982750274444]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/walnut/walnut_039
|
||||
xyz: [0.007612505462020636, 0.13795214891433716, 0.40526020526885986]
|
||||
rpy: [-91.31520258004457, 25.383743229227274, -12.239986933297988]
|
||||
scale: 1.0
|
||||
29
cfg/sim/scene_167.yaml
Normal file
29
cfg/sim/scene_167.yaml
Normal file
@ -0,0 +1,29 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/chair/chair_029
|
||||
xyz: [0.0008199149742722511, -0.01092283520847559, 0.47760605812072754]
|
||||
rpy: [0.3813446205119587, -0.2897016825504398, 88.94442866066338]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_038
|
||||
xyz: [0.26997068524360657, -0.16779960691928864, 0.45743241906166077]
|
||||
rpy: [73.45160451182159, -76.50950722227122, 95.68764260985448]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_040
|
||||
xyz: [0.15597780048847198, 0.12356695532798767, 0.47547996044158936]
|
||||
rpy: [-90.50377488629285, -10.2785466856539, 15.239124521078297]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/banana/banana_040
|
||||
xyz: [0.058592699468135834, -0.0789107233285904, 0.4843217730522156]
|
||||
rpy: [-147.5857804484296, -42.80927061558722, 99.56604010417023]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/corn/corn_032
|
||||
xyz: [0.11521260440349579, 0.011938262730836868, 0.4791303873062134]
|
||||
rpy: [-92.81611860102198, -25.95073671534537, -2.0542574079779876]
|
||||
scale: 1.0
|
||||
24
cfg/sim/scene_168.yaml
Normal file
24
cfg/sim/scene_168.yaml
Normal file
@ -0,0 +1,24 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/sofa/sofa_014
|
||||
xyz: [-0.015716824680566788, 0.008772600442171097, 0.31981509923934937]
|
||||
rpy: [0.012117916180687083, 2.685236707074979, 91.43978081829154]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/banana/banana_044
|
||||
xyz: [0.07584670186042786, 0.19622433185577393, 0.3756987154483795]
|
||||
rpy: [-119.61157347893065, -6.550741177097792, 63.245205090048366]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_125
|
||||
xyz: [0.34376659989356995, -0.05265612155199051, 0.3878500163555145]
|
||||
rpy: [-82.4667765013887, 60.45345259743976, 13.639106253991521]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_039
|
||||
xyz: [0.02098224125802517, 0.19360144436359406, 0.3286435604095459]
|
||||
rpy: [1.7100531187984043, 24.518875581993104, 168.09928333519645]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_169.yaml
Normal file
39
cfg/sim/scene_169.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/table/table_025
|
||||
xyz: [0.0002873651683330536, 0.0021202266216278076, 0.22824014723300934]
|
||||
rpy: [-0.13530763316246008, -0.011954624710813651, 90.6361050441341]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/banana/banana_038
|
||||
xyz: [0.08366374671459198, 0.005979841575026512, 0.5203170776367188]
|
||||
rpy: [108.67074136739801, -85.45723060980727, -103.9934112991734]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/cup/cup_037
|
||||
xyz: [-0.1525346338748932, -0.04400883987545967, 0.5364280343055725]
|
||||
rpy: [-89.6520361484991, -0.32952697777393253, 7.462343767435638]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/apple/apple_065
|
||||
xyz: [-0.07481710612773895, 0.12499117106199265, 0.5317834615707397]
|
||||
rpy: [46.38808665647263, 67.59441122682381, 17.752530039178]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/garlic/garlic_033
|
||||
xyz: [0.0364101305603981, -0.02488427795469761, 0.5094460248947144]
|
||||
rpy: [-88.59200652511434, 7.360199569677379, -5.034586798463258]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_122
|
||||
xyz: [-0.03714274987578392, -0.08522846549749374, 0.5053126811981201]
|
||||
rpy: [-114.46281203449216, 0.044652923198318324, 0.003260523877627325]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_046
|
||||
xyz: [-0.1405159831047058, 0.04146790876984596, 0.5226837992668152]
|
||||
rpy: [-88.92470729738385, 3.187683874208599, -10.40239797396835]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_17.yaml
Normal file
39
cfg/sim/scene_17.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/table/table_027
|
||||
xyz: [0.0027457959949970245, -0.008983150124549866, 0.517039954662323]
|
||||
rpy: [-0.023300712958368417, -0.3865606135237051, 89.13934538407142]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_118
|
||||
xyz: [-0.13904884457588196, -0.21184071898460388, 0.8136613965034485]
|
||||
rpy: [-90.99619551693236, 2.491719439995595, -69.034460413012]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_110
|
||||
xyz: [0.12660780549049377, -0.29683828353881836, 0.841555655002594]
|
||||
rpy: [110.99498704211575, -4.599253617919376, -1.1589939226770691]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_037
|
||||
xyz: [-0.17847870290279388, -0.36430564522743225, 0.8489252924919128]
|
||||
rpy: [103.17849974446699, -80.80574779584086, 127.9550940100351]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_103
|
||||
xyz: [0.09066332131624222, 0.1816982477903366, 0.8486913442611694]
|
||||
rpy: [-89.40455383124372, -0.9144557742458502, -0.6208699620540928]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_056
|
||||
xyz: [0.11598082631826401, 0.4787699580192566, 0.8791625499725342]
|
||||
rpy: [-90.84312113515212, -17.638874607525, -1.1364577543485317]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bottle/bottle_056
|
||||
xyz: [-0.14921723306179047, -0.07653973996639252, 0.8712112307548523]
|
||||
rpy: [-73.92105450691848, 8.89031402212721, 0.9811600424257055]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_170.yaml
Normal file
39
cfg/sim/scene_170.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/table/table_025
|
||||
xyz: [0.00028738100081682205, 0.0021201781928539276, 0.22824016213417053]
|
||||
rpy: [-0.1352967434709727, -0.01193902848950792, 90.63611954019856]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lipstick/lipstick_031
|
||||
xyz: [-0.1373978853225708, 0.14302749931812286, 0.5139928460121155]
|
||||
rpy: [-89.82377162428908, -7.234214659670518, -2.203608645598649]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_117
|
||||
xyz: [0.10685105621814728, -0.07327266037464142, 0.5061081647872925]
|
||||
rpy: [-90.64782055976553, 2.6262613240713737, -2.2542826155089823]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_049
|
||||
xyz: [0.1607951819896698, 0.08478033542633057, 0.5152287483215332]
|
||||
rpy: [-89.89700905651486, -0.9045337047488385, -0.02750546222464077]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lemon/lemon_033
|
||||
xyz: [0.027680670842528343, 0.028748171404004097, 0.5271189212799072]
|
||||
rpy: [-167.55841467738358, -46.13538924736143, -41.13540252173449]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_125
|
||||
xyz: [-0.017873838543891907, -0.08065599203109741, 0.5240263342857361]
|
||||
rpy: [-117.96660474978881, -8.905694310569615, -1.6015728873432757]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/apple/apple_061
|
||||
xyz: [0.11164487898349762, 0.20914295315742493, 0.5267360806465149]
|
||||
rpy: [-82.02142183774717, 75.21470994792368, 6.7636628397942875]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_171.yaml
Normal file
39
cfg/sim/scene_171.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/blender/blender_cabinet_007
|
||||
xyz: [-2.421438694000244e-08, -5.727633833885193e-07, -0.005999863147735596]
|
||||
rpy: [1.9606253628797094e-05, 1.0701532619297758e-05, 90.00004346705846]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_120
|
||||
xyz: [-0.007168560288846493, 0.16118837893009186, 0.12073929607868195]
|
||||
rpy: [-90.26359906718368, -3.016582386201421, -1.1267260804339834]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bottle/bottle_059
|
||||
xyz: [0.5509721040725708, 0.18129032850265503, 0.20697353780269623]
|
||||
rpy: [-138.32450881554962, -55.268454801135356, 14.754561835157919]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bottle/bottle_057
|
||||
xyz: [0.00388914393261075, -0.07924243807792664, 0.14851920306682587]
|
||||
rpy: [-89.964616775971, -14.665059684979392, -0.5845538880777268]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_105
|
||||
xyz: [0.5498747825622559, -0.136323943734169, 0.1523466259241104]
|
||||
rpy: [15.007820443934905, 5.4522199547800225, 3.3116205050654566]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/waffle/waffle_042
|
||||
xyz: [-0.2750873863697052, 0.20348584651947021, 0.16031496226787567]
|
||||
rpy: [-90.00150172696276, -2.290030002574877, 0.0004532995142651535]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/knife/knife_031
|
||||
xyz: [0.40171077847480774, 0.00022062801872380078, 0.12494736164808273]
|
||||
rpy: [-90.00002152792987, 0.00752185656442383, -1.6523856889297903]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_172.yaml
Normal file
44
cfg/sim/scene_172.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/blender/blender_cabinet_009
|
||||
xyz: [6.085727363824844e-06, 1.3709068298339844e-05, -0.03854084014892578]
|
||||
rpy: [-4.826850487907145e-05, 0.037295991325665766, 89.91775064367387]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_105
|
||||
xyz: [0.016382131725549698, 0.14888979494571686, 1.1715892553329468]
|
||||
rpy: [-91.26946805476103, 2.5325394288157628, 4.447740037933445]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/tomato/tomato_030
|
||||
xyz: [-0.18005596101284027, 0.0035381303168833256, 1.2019013166427612]
|
||||
rpy: [-82.15619662803994, -25.803274128778042, 125.41944749601036]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_120
|
||||
xyz: [0.09546034783124924, 0.0710899606347084, 1.1707392930984497]
|
||||
rpy: [-85.70795319339979, -2.9459819861174235, -1.0886746095454718]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lemon/lemon_031
|
||||
xyz: [0.14318838715553284, -0.1200188472867012, 1.192777395248413]
|
||||
rpy: [-88.81734022737957, 4.4825404234503425, -8.335835175787176]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/waffle/waffle_040
|
||||
xyz: [-0.136277973651886, -0.04525675252079964, 0.5054591298103333]
|
||||
rpy: [-89.98344677997618, -1.1758441266426847, 0.4564728268222021]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bowl/bowl_016
|
||||
xyz: [0.15311436355113983, -0.1689269244670868, 1.1856321096420288]
|
||||
rpy: [90.50608581876028, -38.4168063830117, -178.16918069420564]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_044
|
||||
xyz: [0.21192099153995514, -0.10761968046426773, 0.4706884026527405]
|
||||
rpy: [81.37693658178101, -69.43754556263598, 88.89707048396767]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_173.yaml
Normal file
44
cfg/sim/scene_173.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/picnic/picnic_basket_011
|
||||
xyz: [-0.00026841554790735245, 0.0009470162913203239, 0.08126553893089294]
|
||||
rpy: [0.005535060293942521, 0.18571021035643848, 90.65001962311017]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lipstick/lipstick_029
|
||||
xyz: [0.0488293319940567, -0.02867857925593853, 0.17513875663280487]
|
||||
rpy: [-92.04558988755925, -3.6894948022610987, -0.8327941975436834]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/waffle/waffle_040
|
||||
xyz: [-0.0827440544962883, -0.07048746198415756, 0.19595180451869965]
|
||||
rpy: [-92.02454920424955, -29.50848061073272, -86.93283375934178]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_041
|
||||
xyz: [0.03266752138733864, 0.0085920300334692, 0.19214293360710144]
|
||||
rpy: [-102.16817947808946, -3.659124334904798, 7.606046407901237]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_031
|
||||
xyz: [-0.013822544366121292, -0.0794711634516716, 0.17180435359477997]
|
||||
rpy: [108.90399578083722, -75.09651280061492, 176.93788488261933]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lipstick/lipstick_030
|
||||
xyz: [0.06321553140878677, -0.04808836430311203, 0.17382313311100006]
|
||||
rpy: [-90.00081952883397, 0.6364704477802019, -0.18406925295482693]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_030
|
||||
xyz: [-0.035948965698480606, -0.0747358500957489, 0.172882542014122]
|
||||
rpy: [-29.03274016029016, 1.1648053504078884, -97.23896488258235]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_107
|
||||
xyz: [-0.027533018961548805, -0.02162381261587143, 0.1859123706817627]
|
||||
rpy: [-78.44855580026041, 13.631881393437133, -9.60627234491953]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_174.yaml
Normal file
44
cfg/sim/scene_174.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/table/table_026
|
||||
xyz: [6.984919309616089e-07, -5.634501576423645e-08, 0.41001245379447937]
|
||||
rpy: [-1.8158453052515023e-05, -6.109724234191421e-05, 90.00002897804622]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/apple/apple_067
|
||||
xyz: [0.1510339230298996, -0.049273546785116196, 0.721813976764679]
|
||||
rpy: [149.28533551714324, 0.13017307248685298, 3.6452509356631517]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_041
|
||||
xyz: [0.037763189524412155, 0.14578615128993988, 0.730700671672821]
|
||||
rpy: [-101.64541461800528, -69.20603468097711, 103.80564028865115]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lipstick/lipstick_031
|
||||
xyz: [-0.13330377638339996, -0.2761569619178772, -0.017854636535048485]
|
||||
rpy: [-124.70785614217154, -39.571531828039404, -1.4424637452979674]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/banana/banana_045
|
||||
xyz: [0.17448017001152039, 0.09945812076330185, 0.7395045161247253]
|
||||
rpy: [169.98743879668515, -85.47232922111493, -104.55024935382642]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/popcorn/popcorn_040
|
||||
xyz: [-0.004027655813843012, -0.04185003787279129, 0.06918731331825256]
|
||||
rpy: [-78.33019684879605, 41.14543780821753, 9.866915552230841]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_028
|
||||
xyz: [-0.1858048141002655, -0.021027086302638054, 0.7284424304962158]
|
||||
rpy: [160.2546627349356, -85.79165004077794, 122.08120863522574]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/cup/cup_037
|
||||
xyz: [0.06459145992994308, -0.03985336422920227, 0.758712112903595]
|
||||
rpy: [119.24436868057528, -55.329529543141575, 169.7915252361706]
|
||||
scale: 1.0
|
||||
39
cfg/sim/scene_175.yaml
Normal file
39
cfg/sim/scene_175.yaml
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/table/table_026
|
||||
xyz: [2.4919863790273666e-06, -3.0640512704849243e-06, 0.4320143163204193]
|
||||
rpy: [-0.0014615514881475041, -2.1553747756962156e-05, 90.00004346733152]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/popcorn/popcorn_039
|
||||
xyz: [-0.2175128310918808, 0.06226952746510506, 0.7588560581207275]
|
||||
rpy: [-94.09815132401783, 11.607735120005678, 21.94229487741459]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/bowl/bowl_016
|
||||
xyz: [0.27185314893722534, 0.04451190307736397, 0.7839277386665344]
|
||||
rpy: [-91.2562472035918, 8.525991838160307e-05, 89.99998881937366]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/tomato/tomato_028
|
||||
xyz: [-0.044135682284832, -0.133498415350914, 0.7595410943031311]
|
||||
rpy: [-74.51515195235699, 61.525341698421556, 79.3970462561566]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_029
|
||||
xyz: [-0.019278157502412796, -0.2146495282649994, 0.7486420273780823]
|
||||
rpy: [-58.684657117486246, 87.30673094406322, 136.74642975586426]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_120
|
||||
xyz: [0.12933236360549927, -0.11321534216403961, 0.030335236340761185]
|
||||
rpy: [-87.34631749133928, -8.605160942814988, 1.8629568837904418]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lemon/lemon_031
|
||||
xyz: [-0.13029952347278595, -0.20382310450077057, 0.76861572265625]
|
||||
rpy: [-7.194973015257277, -31.628060252404435, -116.69294671903288]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_176.yaml
Normal file
44
cfg/sim/scene_176.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/table/table_027
|
||||
xyz: [4.260241985321045e-05, -0.0007247030735015869, 0.4708881378173828]
|
||||
rpy: [-0.010813840922300512, -0.00954663746194496, 89.91090791175792]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_041
|
||||
xyz: [-0.1578824818134308, -0.400265097618103, 0.8189765214920044]
|
||||
rpy: [32.00486509724632, -44.835621498118705, -160.59416511033396]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_112
|
||||
xyz: [0.0782962515950203, -0.36129167675971985, 0.8004333972930908]
|
||||
rpy: [-89.92828766551081, 4.012906970060839, 3.2650250515911803]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lipstick/lipstick_030
|
||||
xyz: [-0.14954030513763428, 0.06295895576477051, 0.802142858505249]
|
||||
rpy: [-89.04711090876414, -34.361625178172964, -2.392146688533878]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/knife/knife_031
|
||||
xyz: [0.14464019238948822, 0.11366721987724304, 0.8028307557106018]
|
||||
rpy: [-90.07225948653168, -1.6835572941049155, -1.6410082834679227]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/pear/pear_038
|
||||
xyz: [0.16707058250904083, -0.240309938788414, 0.8108897805213928]
|
||||
rpy: [-88.07000778969775, 5.480795408748086, -2.1899125827220094]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_047
|
||||
xyz: [0.18627293407917023, -0.12365876138210297, 0.8007927536964417]
|
||||
rpy: [-89.76632003496856, 16.520954458021066, -12.471987440746892]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_111
|
||||
xyz: [-0.05169602110981941, 0.25846168398857117, 0.8030169606208801]
|
||||
rpy: [-86.32203574182402, 11.344146183026789, 16.954249975355506]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_177.yaml
Normal file
44
cfg/sim/scene_177.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/picnic/picnic_basket_010
|
||||
xyz: [-0.002499799244105816, -0.0040199714712798595, 0.05981079861521721]
|
||||
rpy: [-0.008085797409309453, 1.950467637003484, 86.87079776540514]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_114
|
||||
xyz: [0.046353355050086975, 0.0010274189990013838, 0.012426573783159256]
|
||||
rpy: [-91.62742098827806, 5.958541059736216, 0.2493889068940433]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_056
|
||||
xyz: [-0.008877148851752281, -0.026806574314832687, 0.007808098569512367]
|
||||
rpy: [-144.8390011343997, 1.9967188268790563, 1.8976938037851683]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_130
|
||||
xyz: [0.016918271780014038, 0.034683600068092346, 0.032000020146369934]
|
||||
rpy: [-70.24290675687166, -54.065792791278014, 2.040261101898846]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/egg/egg_048
|
||||
xyz: [-0.04792362451553345, 0.0031698031816631556, 0.02673095464706421]
|
||||
rpy: [-58.526911691535574, -29.745526766069457, -5.048642582259721]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lipstick/lipstick_030
|
||||
xyz: [-0.051498763263225555, 0.030392220243811607, 0.012239719741046429]
|
||||
rpy: [110.68227852862425, -66.85808427206909, -166.62970091101874]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_031
|
||||
xyz: [-0.0034314030781388283, 0.001957784639671445, 0.020948240533471107]
|
||||
rpy: [30.947925911303134, -58.92572707343094, 37.975790072235135]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/banana/banana_042
|
||||
xyz: [0.054778847843408585, 0.0191811490803957, 0.04256262257695198]
|
||||
rpy: [-36.586939995045505, -21.39851515549312, 73.48059610419004]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_178.yaml
Normal file
44
cfg/sim/scene_178.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/table/table_028
|
||||
xyz: [4.0978193283081055e-07, -4.116445779800415e-07, 0.28144803643226624]
|
||||
rpy: [-0.00011775305305055755, -4.591166089899523e-05, 90.00000482972013]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/cup/cup_033
|
||||
xyz: [-0.018825732171535492, 0.07476536929607391, 0.4167102873325348]
|
||||
rpy: [-89.30344581701453, -46.858683539238385, 10.071518875107813]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lipstick/lipstick_030
|
||||
xyz: [-0.16000059247016907, 0.16999037563800812, 0.396083265542984]
|
||||
rpy: [-89.88462357380834, -10.615707105792422, -0.5604812049655875]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/popcorn/popcorn_037
|
||||
xyz: [-0.04996277391910553, 0.3574342131614685, 0.3910219371318817]
|
||||
rpy: [-23.224358737345142, 23.318531960333583, 24.008310235788464]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/walnut/walnut_038
|
||||
xyz: [0.1317291259765625, -0.3117474317550659, 0.38721224665641785]
|
||||
rpy: [-89.73507301644617, -0.010214948771578901, 0.0011889932541916113]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_104
|
||||
xyz: [0.014113257639110088, 0.3389418423175812, 0.39845457673072815]
|
||||
rpy: [-100.7849953811297, -17.44490770383899, -4.697356388722995]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/shrimp/shrimp_039
|
||||
xyz: [-0.11441504955291748, -0.23303192853927612, 0.3837850093841553]
|
||||
rpy: [-123.41847765237893, -79.64847715562696, 129.59371896578654]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/popcorn/popcorn_039
|
||||
xyz: [0.13525016605854034, -0.2675023674964905, 0.39087384939193726]
|
||||
rpy: [27.529633486058593, 68.198082139736, 160.01546902358996]
|
||||
scale: 1.0
|
||||
44
cfg/sim/scene_179.yaml
Normal file
44
cfg/sim/scene_179.yaml
Normal file
@ -0,0 +1,44 @@
|
||||
|
||||
center: [0.45, 0.0, 0.0]
|
||||
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
||||
objects:
|
||||
|
||||
- object_id: active_perception/omni_objects/chair/chair_028
|
||||
xyz: [-0.0035140831023454666, -0.00039090216159820557, 0.29748719930648804]
|
||||
rpy: [-0.09994535103828141, 0.8307188614139377, 89.7039569079076]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_129
|
||||
xyz: [-0.03834909573197365, -0.01908670738339424, 0.3192247450351715]
|
||||
rpy: [138.46574972245392, -22.375015376982564, 147.10115744701824]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/biscuit/biscuit_114
|
||||
xyz: [0.09816321730613708, -0.06335978209972382, 0.3049811124801636]
|
||||
rpy: [-90.34810545771184, 4.114975683362034, -9.142998034811761]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lemon/lemon_033
|
||||
xyz: [0.029231108725070953, 0.03482004627585411, 0.313604474067688]
|
||||
rpy: [-101.45498664796492, -11.4444783111529, 2.6061788804249884]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/potato/potato_055
|
||||
xyz: [0.1211429163813591, -0.00368827604688704, 0.3088614046573639]
|
||||
rpy: [-90.28325590657066, 0.5024886398949671, -8.005357126601991]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/peanut/peanut_028
|
||||
xyz: [0.12004468590021133, 0.03566548973321915, 0.3072688579559326]
|
||||
rpy: [165.55771590289348, -62.61105314581416, 94.48571954068697]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/lipstick/lipstick_031
|
||||
xyz: [0.05371537432074547, 0.01286200899630785, 0.29729893803596497]
|
||||
rpy: [-45.770404769559505, 58.67313017733949, -7.839084548705912]
|
||||
scale: 1.0
|
||||
|
||||
- object_id: active_perception/omni_objects/popcorn/popcorn_041
|
||||
xyz: [0.018273361027240753, 0.06561088562011719, 0.30360308289527893]
|
||||
rpy: [-88.55423799090501, -36.634533983348355, 2.0835814232038907]
|
||||
scale: 1.0
|
||||
Some files were not shown because too many files have changed in this diff Show More
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Reference in New Issue
Block a user