sim on omni_test

cfg/old_sim/challenging_scene_1.yaml

@@ -0,0 +1,12 @@
+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_cabinet/blender_cabinet_003
+  xyz: [0.2, 0.0, 0.0]
+  rpy: [0, 0, 110]
+  scale: 1.0
+- object_id: active_perception/omni_objects/bowl/bowl_001
+  xyz: [0.1, -0.15, 0.2]
+  rpy: [0, 0, 0]
+  scale: 1.0

cfg/old_sim/challenging_scene_2.yaml

@@ -0,0 +1,11 @@
+center: [0.5, 0.0, 0.25]
+q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
+objects:
+- object_id: ycb/006_mustard_bottle
+  xyz: [0.0, 0.0, 0.03]
+  rpy: [0, 0, 0]
+  scale: 0.8
+- object_id: active_perception/box2
+  xyz: [0.19, 0.0, 0.0]
+  rpy: [0, 0, 0]
+  scale: 1.2

cfg/old_sim/challenging_scene_3.yaml

@@ -0,0 +1,11 @@
+center: [0.5, 0.0, 0.25]
+q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
+objects:
+- object_id: ycb/006_mustard_bottle
+  xyz: [-0.1, 0.13, 0.1]
+  rpy: [0, 0, 100]
+  scale: 0.8
+- object_id: active_perception/box2
+  xyz: [0.05, 0.15, 0.3]
+  rpy: [90, 0, -10]
+  scale: 1.0

cfg/old_sim/challenging_scene_4.yaml

@@ -0,0 +1,11 @@
+center: [0.5, 0.0, 0.25]
+q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
+objects:
+- object_id: ycb/006_mustard_bottle
+  xyz: [-0.05, 0.0, 0.1]
+  rpy: [0, 0, 0]
+  scale: 0.5
+- object_id: active_perception/shelf1
+  xyz: [-0.05, 0.0, 0.0]
+  rpy: [0, 0, 45]
+  scale: 0.5

cfg/old_sim/challenging_scene_5.yaml

@@ -0,0 +1,11 @@
+center: [0.5, 0.0, 0.25]
+q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
+objects:
+- object_id: ycb/006_mustard_bottle
+  xyz: [-0.1, 0.0, 0.1]
+  rpy: [0, 0, 0]
+  scale: 0.5
+- object_id: active_perception/cabinet1
+  xyz: [-0.1, 0.0, 0.0]
+  rpy: [0, 0, 45]
+  scale: 0.5

cfg/old_sim/challenging_scene_6.yaml

@@ -0,0 +1,11 @@
+center: [0.5, 0.0, 0.25]
+q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
+objects:
+- object_id: ycb/006_mustard_bottle
+  xyz: [0.0, 0.05, 0.05]
+  rpy: [0, 0, -45]
+  scale: 0.5
+- object_id: active_perception/cabinet2
+  xyz: [0.0, 0.0, 0.0]
+  rpy: [0, 0, 135]
+  scale: 0.25

cfg/old_sim/custom_scene_1.yaml

@@ -0,0 +1,12 @@
+center: [0.45, 0.0, 0.25]
+q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
+objects:
+- object_id: ycb/006_mustard_bottle
+  xyz: [0.0, +0.1, 0.1]
+  rpy: [0, 0, 0]
+  scale: 0.8
+- object_id: active_perception/blender_cabinet
+  xyz: [-0.1, -0.2, 0.02]
+  rpy: [0, 0, 0]
+  scale: 1.0
+

cfg/old_sim/scene_0.yaml

@@ -0,0 +1,44 @@
+
+center: [0.8, 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/banana/banana_039
+  xyz: [0.7659764885902405, 0.13244639337062836, -0.04103884473443031]
+  rpy: [-159.92582804293914, -85.42660168404156, -103.58175651841792]
+  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