diff --git a/cfg/active_grasp.yaml b/cfg/active_grasp.yaml index 635c077..f935323 100644 --- a/cfg/active_grasp.yaml +++ b/cfg/active_grasp.yaml @@ -3,8 +3,7 @@ bt_sim: gripper_force: 100 # scene: random # scene: manual - scene: $(find active_grasp)/cfg/sim/scene_0.yaml - + scene: $(find active_grasp)/cfg/pkl_scene/scene_0 hw: roi_calib_file: $(find active_grasp)/cfg/hw/T_base_tag.txt scene_file: $(find active_grasp)/cfg/hw/scene01.yaml diff --git a/cfg/pkl_scene/scene_0/fall_objects.pickle b/cfg/pkl_scene/scene_0/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_0/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_0/scene.pickle b/cfg/pkl_scene/scene_0/scene.pickle new file mode 100644 index 0000000..db65e21 Binary files /dev/null and b/cfg/pkl_scene/scene_0/scene.pickle differ diff --git a/cfg/pkl_scene/scene_1/fall_objects.pickle b/cfg/pkl_scene/scene_1/fall_objects.pickle new file mode 100644 index 0000000..1af9323 Binary files /dev/null and b/cfg/pkl_scene/scene_1/fall_objects.pickle differ diff --git a/cfg/pkl_scene/scene_1/scene.pickle b/cfg/pkl_scene/scene_1/scene.pickle new file mode 100644 index 0000000..f442ea9 Binary files /dev/null and b/cfg/pkl_scene/scene_1/scene.pickle differ diff --git a/cfg/pkl_scene/scene_10/fall_objects.pickle b/cfg/pkl_scene/scene_10/fall_objects.pickle new file mode 100644 index 0000000..4305a0d Binary files /dev/null and b/cfg/pkl_scene/scene_10/fall_objects.pickle differ diff --git a/cfg/pkl_scene/scene_10/scene.pickle b/cfg/pkl_scene/scene_10/scene.pickle new file mode 100644 index 0000000..a3feb43 Binary files /dev/null and b/cfg/pkl_scene/scene_10/scene.pickle differ diff --git a/cfg/pkl_scene/scene_11/fall_objects.pickle b/cfg/pkl_scene/scene_11/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_11/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_11/scene.pickle b/cfg/pkl_scene/scene_11/scene.pickle new file mode 100644 index 0000000..b7386a8 Binary files /dev/null and b/cfg/pkl_scene/scene_11/scene.pickle differ diff --git a/cfg/pkl_scene/scene_12/fall_objects.pickle b/cfg/pkl_scene/scene_12/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_12/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_12/scene.pickle b/cfg/pkl_scene/scene_12/scene.pickle new file mode 100644 index 0000000..2f9dd5d Binary files /dev/null and b/cfg/pkl_scene/scene_12/scene.pickle differ diff --git a/cfg/pkl_scene/scene_13/fall_objects.pickle b/cfg/pkl_scene/scene_13/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_13/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_13/scene.pickle b/cfg/pkl_scene/scene_13/scene.pickle new file mode 100644 index 0000000..0c612d0 Binary files /dev/null and b/cfg/pkl_scene/scene_13/scene.pickle differ diff --git a/cfg/pkl_scene/scene_14/fall_objects.pickle b/cfg/pkl_scene/scene_14/fall_objects.pickle new file mode 100644 index 0000000..8348eb5 Binary files /dev/null and b/cfg/pkl_scene/scene_14/fall_objects.pickle differ diff --git a/cfg/pkl_scene/scene_14/scene.pickle b/cfg/pkl_scene/scene_14/scene.pickle new file mode 100644 index 0000000..115bb7b Binary files /dev/null and b/cfg/pkl_scene/scene_14/scene.pickle differ diff --git a/cfg/pkl_scene/scene_15/fall_objects.pickle b/cfg/pkl_scene/scene_15/fall_objects.pickle new file mode 100644 index 0000000..6c322a7 Binary files /dev/null and b/cfg/pkl_scene/scene_15/fall_objects.pickle differ diff --git a/cfg/pkl_scene/scene_15/scene.pickle b/cfg/pkl_scene/scene_15/scene.pickle new file mode 100644 index 0000000..a7b6ca8 Binary files /dev/null and b/cfg/pkl_scene/scene_15/scene.pickle differ diff --git a/cfg/pkl_scene/scene_16/fall_objects.pickle b/cfg/pkl_scene/scene_16/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_16/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_16/scene.pickle b/cfg/pkl_scene/scene_16/scene.pickle new file mode 100644 index 0000000..b13891d Binary files /dev/null and b/cfg/pkl_scene/scene_16/scene.pickle differ diff --git a/cfg/pkl_scene/scene_17/fall_objects.pickle b/cfg/pkl_scene/scene_17/fall_objects.pickle new file mode 100644 index 0000000..7b10102 Binary files /dev/null and b/cfg/pkl_scene/scene_17/fall_objects.pickle differ diff --git a/cfg/pkl_scene/scene_17/scene.pickle b/cfg/pkl_scene/scene_17/scene.pickle new file mode 100644 index 0000000..851cc3e Binary files /dev/null and b/cfg/pkl_scene/scene_17/scene.pickle differ diff --git a/cfg/pkl_scene/scene_2/fall_objects.pickle b/cfg/pkl_scene/scene_2/fall_objects.pickle new file mode 100644 index 0000000..0b0f538 Binary files /dev/null and b/cfg/pkl_scene/scene_2/fall_objects.pickle differ diff --git a/cfg/pkl_scene/scene_2/scene.pickle b/cfg/pkl_scene/scene_2/scene.pickle new file mode 100644 index 0000000..c50cf0b Binary files /dev/null and b/cfg/pkl_scene/scene_2/scene.pickle differ diff --git a/cfg/pkl_scene/scene_25/fall_objects.pickle b/cfg/pkl_scene/scene_25/fall_objects.pickle new file mode 100644 index 0000000..22179db Binary files /dev/null and b/cfg/pkl_scene/scene_25/fall_objects.pickle differ diff --git a/cfg/pkl_scene/scene_25/scene.pickle b/cfg/pkl_scene/scene_25/scene.pickle new file mode 100644 index 0000000..92af6c4 Binary files /dev/null and b/cfg/pkl_scene/scene_25/scene.pickle differ diff --git a/cfg/pkl_scene/scene_26/fall_objects.pickle b/cfg/pkl_scene/scene_26/fall_objects.pickle new file mode 100644 index 0000000..73e4489 Binary files /dev/null and b/cfg/pkl_scene/scene_26/fall_objects.pickle differ diff --git a/cfg/pkl_scene/scene_26/scene.pickle b/cfg/pkl_scene/scene_26/scene.pickle new file mode 100644 index 0000000..346496b Binary files /dev/null and b/cfg/pkl_scene/scene_26/scene.pickle differ diff --git a/cfg/pkl_scene/scene_27/fall_objects.pickle b/cfg/pkl_scene/scene_27/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_27/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_27/scene.pickle b/cfg/pkl_scene/scene_27/scene.pickle new file mode 100644 index 0000000..2b5b770 Binary files /dev/null and b/cfg/pkl_scene/scene_27/scene.pickle differ diff --git a/cfg/pkl_scene/scene_28/fall_objects.pickle b/cfg/pkl_scene/scene_28/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_28/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_28/scene.pickle b/cfg/pkl_scene/scene_28/scene.pickle new file mode 100644 index 0000000..f35432e Binary files /dev/null and b/cfg/pkl_scene/scene_28/scene.pickle differ diff --git a/cfg/pkl_scene/scene_29/fall_objects.pickle b/cfg/pkl_scene/scene_29/fall_objects.pickle new file mode 100644 index 0000000..15cb7ec Binary files /dev/null and b/cfg/pkl_scene/scene_29/fall_objects.pickle differ diff --git a/cfg/pkl_scene/scene_29/scene.pickle b/cfg/pkl_scene/scene_29/scene.pickle new file mode 100644 index 0000000..5ad57da Binary files /dev/null and b/cfg/pkl_scene/scene_29/scene.pickle differ diff --git a/cfg/pkl_scene/scene_3/fall_objects.pickle b/cfg/pkl_scene/scene_3/fall_objects.pickle new file mode 100644 index 0000000..478cef7 Binary files /dev/null and b/cfg/pkl_scene/scene_3/fall_objects.pickle differ diff --git a/cfg/pkl_scene/scene_3/scene.pickle b/cfg/pkl_scene/scene_3/scene.pickle new file mode 100644 index 0000000..533487b Binary files /dev/null and b/cfg/pkl_scene/scene_3/scene.pickle differ diff --git a/cfg/pkl_scene/scene_30/fall_objects.pickle b/cfg/pkl_scene/scene_30/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_30/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_30/scene.pickle b/cfg/pkl_scene/scene_30/scene.pickle new file mode 100644 index 0000000..3a7caa6 Binary files /dev/null and b/cfg/pkl_scene/scene_30/scene.pickle differ diff --git a/cfg/pkl_scene/scene_31/fall_objects.pickle b/cfg/pkl_scene/scene_31/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_31/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_31/scene.pickle b/cfg/pkl_scene/scene_31/scene.pickle new file mode 100644 index 0000000..2bc9223 Binary files /dev/null and b/cfg/pkl_scene/scene_31/scene.pickle differ diff --git a/cfg/pkl_scene/scene_32/fall_objects.pickle b/cfg/pkl_scene/scene_32/fall_objects.pickle new file mode 100644 index 0000000..928ace5 Binary files /dev/null and b/cfg/pkl_scene/scene_32/fall_objects.pickle differ diff --git a/cfg/pkl_scene/scene_32/scene.pickle b/cfg/pkl_scene/scene_32/scene.pickle new file mode 100644 index 0000000..9af1ae1 Binary files /dev/null and b/cfg/pkl_scene/scene_32/scene.pickle differ diff --git a/cfg/pkl_scene/scene_33/fall_objects.pickle b/cfg/pkl_scene/scene_33/fall_objects.pickle new file mode 100644 index 0000000..cfb680d Binary files /dev/null and b/cfg/pkl_scene/scene_33/fall_objects.pickle differ diff --git a/cfg/pkl_scene/scene_33/scene.pickle b/cfg/pkl_scene/scene_33/scene.pickle new file mode 100644 index 0000000..327e0ba Binary files /dev/null and b/cfg/pkl_scene/scene_33/scene.pickle differ diff --git a/cfg/pkl_scene/scene_34/fall_objects.pickle b/cfg/pkl_scene/scene_34/fall_objects.pickle new file mode 100644 index 0000000..504c298 Binary files /dev/null and b/cfg/pkl_scene/scene_34/fall_objects.pickle differ diff --git a/cfg/pkl_scene/scene_34/scene.pickle b/cfg/pkl_scene/scene_34/scene.pickle new file mode 100644 index 0000000..9476e9d Binary files /dev/null and b/cfg/pkl_scene/scene_34/scene.pickle differ diff --git a/cfg/pkl_scene/scene_35/fall_objects.pickle b/cfg/pkl_scene/scene_35/fall_objects.pickle new file mode 100644 index 0000000..2436f08 Binary files /dev/null and b/cfg/pkl_scene/scene_35/fall_objects.pickle differ diff --git a/cfg/pkl_scene/scene_35/scene.pickle b/cfg/pkl_scene/scene_35/scene.pickle new file mode 100644 index 0000000..7412671 Binary files /dev/null and b/cfg/pkl_scene/scene_35/scene.pickle differ diff --git a/cfg/pkl_scene/scene_4/fall_objects.pickle b/cfg/pkl_scene/scene_4/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_4/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_4/scene.pickle b/cfg/pkl_scene/scene_4/scene.pickle new file mode 100644 index 0000000..82d7d85 Binary files /dev/null and b/cfg/pkl_scene/scene_4/scene.pickle differ diff --git a/cfg/pkl_scene/scene_43/fall_objects.pickle b/cfg/pkl_scene/scene_43/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_43/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_43/scene.pickle b/cfg/pkl_scene/scene_43/scene.pickle new file mode 100644 index 0000000..8eaaa8f Binary files /dev/null and b/cfg/pkl_scene/scene_43/scene.pickle differ diff --git a/cfg/pkl_scene/scene_44/fall_objects.pickle b/cfg/pkl_scene/scene_44/fall_objects.pickle new file mode 100644 index 0000000..29683cf Binary files /dev/null and b/cfg/pkl_scene/scene_44/fall_objects.pickle differ diff --git a/cfg/pkl_scene/scene_44/scene.pickle b/cfg/pkl_scene/scene_44/scene.pickle new file mode 100644 index 0000000..eea7d59 Binary files /dev/null and b/cfg/pkl_scene/scene_44/scene.pickle differ diff --git a/cfg/pkl_scene/scene_45/fall_objects.pickle b/cfg/pkl_scene/scene_45/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_45/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_45/scene.pickle b/cfg/pkl_scene/scene_45/scene.pickle new file mode 100644 index 0000000..72c470b Binary files /dev/null and b/cfg/pkl_scene/scene_45/scene.pickle differ diff --git a/cfg/pkl_scene/scene_46/fall_objects.pickle b/cfg/pkl_scene/scene_46/fall_objects.pickle new file mode 100644 index 0000000..bf86320 Binary files /dev/null and b/cfg/pkl_scene/scene_46/fall_objects.pickle differ diff --git a/cfg/pkl_scene/scene_46/scene.pickle b/cfg/pkl_scene/scene_46/scene.pickle new file mode 100644 index 0000000..dd91083 Binary files /dev/null and b/cfg/pkl_scene/scene_46/scene.pickle differ diff --git a/cfg/pkl_scene/scene_47/fall_objects.pickle b/cfg/pkl_scene/scene_47/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_47/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_47/scene.pickle b/cfg/pkl_scene/scene_47/scene.pickle new file mode 100644 index 0000000..83ffb4c Binary files /dev/null and b/cfg/pkl_scene/scene_47/scene.pickle differ diff --git a/cfg/pkl_scene/scene_48/fall_objects.pickle b/cfg/pkl_scene/scene_48/fall_objects.pickle new file mode 100644 index 0000000..002dace Binary files /dev/null and b/cfg/pkl_scene/scene_48/fall_objects.pickle differ diff --git a/cfg/pkl_scene/scene_48/scene.pickle b/cfg/pkl_scene/scene_48/scene.pickle new file mode 100644 index 0000000..4926393 Binary files /dev/null and b/cfg/pkl_scene/scene_48/scene.pickle differ diff --git a/cfg/pkl_scene/scene_49/fall_objects.pickle b/cfg/pkl_scene/scene_49/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_49/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_49/scene.pickle b/cfg/pkl_scene/scene_49/scene.pickle new file mode 100644 index 0000000..c320ded Binary files /dev/null and b/cfg/pkl_scene/scene_49/scene.pickle differ diff --git a/cfg/pkl_scene/scene_5/fall_objects.pickle b/cfg/pkl_scene/scene_5/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_5/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_5/scene.pickle b/cfg/pkl_scene/scene_5/scene.pickle new file mode 100644 index 0000000..bb9591d Binary files /dev/null and b/cfg/pkl_scene/scene_5/scene.pickle differ diff --git a/cfg/pkl_scene/scene_50/fall_objects.pickle b/cfg/pkl_scene/scene_50/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_50/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_50/scene.pickle b/cfg/pkl_scene/scene_50/scene.pickle new file mode 100644 index 0000000..8fa4e55 Binary files /dev/null and b/cfg/pkl_scene/scene_50/scene.pickle differ diff --git a/cfg/pkl_scene/scene_51/fall_objects.pickle b/cfg/pkl_scene/scene_51/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_51/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_51/scene.pickle b/cfg/pkl_scene/scene_51/scene.pickle new file mode 100644 index 0000000..2226042 Binary files /dev/null and b/cfg/pkl_scene/scene_51/scene.pickle differ diff --git a/cfg/pkl_scene/scene_52/fall_objects.pickle b/cfg/pkl_scene/scene_52/fall_objects.pickle new file mode 100644 index 0000000..af81d40 Binary files /dev/null and b/cfg/pkl_scene/scene_52/fall_objects.pickle differ diff --git a/cfg/pkl_scene/scene_52/scene.pickle b/cfg/pkl_scene/scene_52/scene.pickle new file mode 100644 index 0000000..f45d432 Binary files /dev/null and b/cfg/pkl_scene/scene_52/scene.pickle differ diff --git a/cfg/pkl_scene/scene_53/fall_objects.pickle b/cfg/pkl_scene/scene_53/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_53/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_53/scene.pickle b/cfg/pkl_scene/scene_53/scene.pickle new file mode 100644 index 0000000..9683ca4 Binary files /dev/null and b/cfg/pkl_scene/scene_53/scene.pickle differ diff --git a/cfg/pkl_scene/scene_6/fall_objects.pickle b/cfg/pkl_scene/scene_6/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_6/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_6/scene.pickle b/cfg/pkl_scene/scene_6/scene.pickle new file mode 100644 index 0000000..57d93a4 Binary files /dev/null and b/cfg/pkl_scene/scene_6/scene.pickle differ diff --git a/cfg/pkl_scene/scene_61/fall_objects.pickle b/cfg/pkl_scene/scene_61/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_61/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_61/scene.pickle b/cfg/pkl_scene/scene_61/scene.pickle new file mode 100644 index 0000000..7cbbd6c Binary files /dev/null and b/cfg/pkl_scene/scene_61/scene.pickle differ diff --git a/cfg/pkl_scene/scene_62/fall_objects.pickle b/cfg/pkl_scene/scene_62/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_62/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_62/scene.pickle b/cfg/pkl_scene/scene_62/scene.pickle new file mode 100644 index 0000000..4efdc92 Binary files /dev/null and b/cfg/pkl_scene/scene_62/scene.pickle differ diff --git a/cfg/pkl_scene/scene_63/fall_objects.pickle b/cfg/pkl_scene/scene_63/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_63/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_63/scene.pickle b/cfg/pkl_scene/scene_63/scene.pickle new file mode 100644 index 0000000..502bd16 Binary files /dev/null and b/cfg/pkl_scene/scene_63/scene.pickle differ diff --git a/cfg/pkl_scene/scene_64/fall_objects.pickle b/cfg/pkl_scene/scene_64/fall_objects.pickle new file mode 100644 index 0000000..08f4c9a Binary files /dev/null and b/cfg/pkl_scene/scene_64/fall_objects.pickle differ diff --git a/cfg/pkl_scene/scene_64/scene.pickle b/cfg/pkl_scene/scene_64/scene.pickle new file mode 100644 index 0000000..97ff74f Binary files /dev/null and b/cfg/pkl_scene/scene_64/scene.pickle differ diff --git a/cfg/pkl_scene/scene_65/fall_objects.pickle b/cfg/pkl_scene/scene_65/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_65/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_65/scene.pickle b/cfg/pkl_scene/scene_65/scene.pickle new file mode 100644 index 0000000..cb9834a Binary files /dev/null and b/cfg/pkl_scene/scene_65/scene.pickle differ diff --git a/cfg/pkl_scene/scene_66/fall_objects.pickle b/cfg/pkl_scene/scene_66/fall_objects.pickle new file mode 100644 index 0000000..ac5d7f5 Binary files /dev/null and b/cfg/pkl_scene/scene_66/fall_objects.pickle differ diff --git a/cfg/pkl_scene/scene_66/scene.pickle b/cfg/pkl_scene/scene_66/scene.pickle new file mode 100644 index 0000000..8657b97 Binary files /dev/null and b/cfg/pkl_scene/scene_66/scene.pickle differ diff --git a/cfg/pkl_scene/scene_67/fall_objects.pickle b/cfg/pkl_scene/scene_67/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_67/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_67/scene.pickle b/cfg/pkl_scene/scene_67/scene.pickle new file mode 100644 index 0000000..d2bf4f6 Binary files /dev/null and b/cfg/pkl_scene/scene_67/scene.pickle differ diff --git a/cfg/pkl_scene/scene_68/fall_objects.pickle b/cfg/pkl_scene/scene_68/fall_objects.pickle new file mode 100644 index 0000000..d3870f4 Binary files /dev/null and b/cfg/pkl_scene/scene_68/fall_objects.pickle differ diff --git a/cfg/pkl_scene/scene_68/scene.pickle b/cfg/pkl_scene/scene_68/scene.pickle new file mode 100644 index 0000000..54dbee4 Binary files /dev/null and b/cfg/pkl_scene/scene_68/scene.pickle differ diff --git a/cfg/pkl_scene/scene_69/fall_objects.pickle b/cfg/pkl_scene/scene_69/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_69/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_69/scene.pickle b/cfg/pkl_scene/scene_69/scene.pickle new file mode 100644 index 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diff --git a/cfg/pkl_scene/scene_86/fall_objects.pickle b/cfg/pkl_scene/scene_86/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_86/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_86/scene.pickle b/cfg/pkl_scene/scene_86/scene.pickle new file mode 100644 index 0000000..4378f89 Binary files /dev/null and b/cfg/pkl_scene/scene_86/scene.pickle differ diff --git a/cfg/pkl_scene/scene_87/fall_objects.pickle b/cfg/pkl_scene/scene_87/fall_objects.pickle new file mode 100644 index 0000000..99ea583 --- /dev/null +++ b/cfg/pkl_scene/scene_87/fall_objects.pickle @@ -0,0 +1 @@ +€]”. \ No newline at end of file diff --git a/cfg/pkl_scene/scene_87/scene.pickle b/cfg/pkl_scene/scene_87/scene.pickle new file mode 100644 index 0000000..57fb987 Binary files /dev/null and b/cfg/pkl_scene/scene_87/scene.pickle differ diff --git a/cfg/pkl_scene/scene_88/fall_objects.pickle 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b/cfg/pkl_scene/scene_9/fall_objects.pickle differ diff --git a/cfg/pkl_scene/scene_9/scene.pickle b/cfg/pkl_scene/scene_9/scene.pickle new file mode 100644 index 0000000..0082513 Binary files /dev/null and b/cfg/pkl_scene/scene_9/scene.pickle differ diff --git a/cfg/sim/scene_0.yaml b/cfg/sim/scene_0.yaml index 2074532..861b8a9 100644 --- a/cfg/sim/scene_0.yaml +++ b/cfg/sim/scene_0.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_009 xyz: [4.64986078441143e-06, 1.1311843991279602e-05, -0.016544461250305176] - rpy: [-3.890340757683333e-06, 0.03720095823628773, 89.91796798989898] + rpy: [0.9179680071898, 4.937131969869874e-05, 90.03720092567806901] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_060 xyz: [-0.3377646803855896, 0.11278793215751648, 0.11467006057500839] - rpy: [118.07257095329169, -17.721830472813895, 165.24649291958784] + rpy: [-157.6051292860657, 4.943768408810929, -116.73931021910774] scale: 1.0 - object_id: active_perception/omni_objects/pear/pear_037 xyz: [-0.3260464072227478, 0.03416014835238457, 0.12631379067897797] - rpy: [-48.22722583509287, 64.63320766249008, 47.876707855121765] + rpy: [73.10553100532739, -8.592938453349866, -73.22354284541412] scale: 1.0 - object_id: active_perception/omni_objects/pear/pear_035 xyz: [-0.25687548518180847, -0.034766729921102524, 0.10207981616258621] - rpy: [-94.59622371415126, 0.37623224849990594, -92.33892377028123] + rpy: [117.0853824615848, 84.85773249660868, 153.3847239548206] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_063 xyz: [0.025610506534576416, 0.08303676545619965, 0.11088347434997559] - rpy: [-93.34928774277378, 39.69653614014154, -4.526670839259127] + rpy: [39.851998977112835, 2.383552703210059, -92.57870319961164] scale: 1.0 - object_id: active_perception/omni_objects/garlic/garlic_033 xyz: [-0.08226469159126282, 0.0870445966720581, 0.09662999212741852] - rpy: [-90.38067148609004, 7.495002041739577, -5.102582322216595] + rpy: [7.528536570409584, 5.052817015676277, -90.37889149381913] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_061 xyz: [0.22411133348941803, -0.055237896740436554, 0.09414366632699966] - rpy: [-90.1703276971415, 7.695877525082848, -0.09848045365107609] + rpy: [7.696134050206313, 0.0756706456447363, -90.16879367065631] scale: 1.0 - object_id: active_perception/omni_objects/waffle/waffle_042 xyz: [-0.1430458426475525, -0.016264157369732857, 0.13158491253852844] - rpy: [-92.35109269914692, -1.3781727753172388, -0.8499572253493096] + rpy: [-1.3421524609374635, 0.9057731463620506, -92.35070610263095] scale: 1.0 diff --git a/cfg/sim/scene_1.yaml b/cfg/sim/scene_1.yaml index 4880c89..90301a6 100644 --- a/cfg/sim/scene_1.yaml +++ b/cfg/sim/scene_1.yaml @@ -5,25 +5,25 @@ objects: - object_id: active_perception/omni_objects/table/table_027 xyz: [0.0010374169796705246, -0.0069223493337631226, 0.5168523788452148] - rpy: [-0.0024637965400675, -0.1442944922368261, 89.14276603175097] + rpy: [0.14424148184397603, -0.004622307976576547, 179.14276874762679] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_046 xyz: [-0.12078018486499786, -0.10749435424804688, 0.8585910797119141] - rpy: [-89.61072501969137, 4.587986949850374, -10.273497129618452] + rpy: [4.517543968566128, 10.304396793784669, -89.60561133466753] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_116 xyz: [0.03019426204264164, 0.28699105978012085, 0.8501646518707275] - rpy: [133.91096750918834, -1.6565090561062554, -3.4573572359079443] + rpy: [133.590736736065887, -1.3427511474255087, 93.90306103108347] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_040 xyz: [-0.09473028033971786, 0.4400838017463684, 0.8657305240631104] - rpy: [-89.95190211800964, 15.775554328222162, -12.971046206785081] + rpy: [15.76488710239284, 12.984118254767727, -89.95249928923164] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_061 xyz: [0.07441169768571854, 0.46750664710998535, 0.8783947825431824] - rpy: [-74.468997277914, 66.64487787995446, 8.405348930148477] + rpy: [66.78136477949555, 5.874086221450868, -83.87441853027123] scale: 1.0 diff --git a/cfg/sim/scene_10.yaml b/cfg/sim/scene_10.yaml index 55073b1..33f7390 100644 --- a/cfg/sim/scene_10.yaml +++ b/cfg/sim/scene_10.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/table/table_027 xyz: [0.00011250749230384827, -0.0012790709733963013, 0.42605704069137573] - rpy: [-0.005765722830020446, -0.0164106630230235, 89.84075197412332] + rpy: [89.84075197983628, -0.00581131233622055, 0.016394574393712537] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_039 xyz: [-0.034191351383924484, 0.3968554139137268, 0.7598503828048706] - rpy: [-179.61877980675678, -84.29259657733192, 124.80951678530789] + rpy: [-93.97362058506305, -34.99258393989258, -96.97234747269258] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_044 xyz: [0.10647960752248764, 0.29765817523002625, 0.7743821144104004] - rpy: [-88.48399247170794, -7.115042097096817, -14.620474827238613] + rpy: [-7.5046180559176445, 14.427573751187694, -88.44667104159767] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_122 xyz: [0.11082173883914948, -0.25146540999412537, 0.7569476962089539] - rpy: [-129.7921183125197, 1.6486297165682808, -1.3512043823043858] + rpy: [2.1314209348916187, -0.01655987875833397, -129.7723682296687] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_045 xyz: [0.1866931915283203, -0.22537861764431, 0.7763093113899231] - rpy: [-143.35303937178753, -15.124144186236883, 97.76556084699185] + rpy: [-99.56687099689191, -38.293819710930606, -170.70500377594502] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_126 xyz: [-0.15704573690891266, -0.39097821712493896, 0.7579376697540283] - rpy: [-89.96856762707291, -2.4243436852019573, -1.2532473273119482] + rpy: [-2.4250303441120664, 1.251917544859648, -89.96858826259266] scale: 1.0 - object_id: active_perception/omni_objects/tomato/tomato_030 xyz: [0.0631551444530487, -0.03531681001186371, 0.7705153822898865] - rpy: [-55.30420854250822, 30.343779809461168, 112.46407656838485] + rpy: [131.9160137823781, -60.42106940500729, 5.629125111526386] scale: 1.0 diff --git a/cfg/sim/scene_100.yaml b/cfg/sim/scene_100.yaml index 642880c..78b7022 100644 --- a/cfg/sim/scene_100.yaml +++ b/cfg/sim/scene_100.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/picnic/picnic_basket_010 xyz: [-0.0024944983888417482, -0.003906389698386192, 0.06587576121091843] - rpy: [-0.12304522966534465, 1.9469665651636454, 86.95744150032412] + rpy: [86.9591994370276, -0.019551288109329008, -1.9507513940365515] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_105 xyz: [-0.0017132123466581106, -0.016988083720207214, 0.018578030169010162] - rpy: [-91.62953209424012, -4.144386653707507, 0.36326617994296895] + rpy: [-4.153019647698206, -0.24536932937999192, -91.62528478563138] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_042 xyz: [0.0078016603365540504, 0.02739977091550827, 0.02571101114153862] - rpy: [91.67900194892682, -45.54381128981898, 76.60770464363894] + rpy: [40.13144237089247, 77.75061513263793, 95.55026715406296] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_047 xyz: [0.04295744001865387, -0.023585429415106773, 0.02402724325656891] - rpy: [-164.73216399910453, -34.36496509851416, -19.224443539094104] + rpy: [12.814990093795629, 36.933035093362776, -175.02303845086485] scale: 1.0 - object_id: active_perception/omni_objects/cup/cup_039 xyz: [-0.03366504982113838, -0.03810783475637436, 0.027493562549352646] - rpy: [-121.91782759320381, -57.53090093233096, 2.823489424479598] + rpy: [-54.121123538698335, 23.809887025445335, -108.07340619347627] scale: 1.0 - object_id: active_perception/omni_objects/ginger/ginger_040 xyz: [-0.007851741276681423, -0.04602106660604477, 0.06372369825839996] - rpy: [-74.6432906656066, 65.79201984813415, 34.65958562028854] + rpy: [68.89869635607344, -20.47002643782849, -83.34378108419352] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_037 xyz: [0.04913321137428284, 0.02927616611123085, 0.041648078709840775] - rpy: [-100.56627916909419, 50.3191140958404, -13.33854832260954] + rpy: [51.4066826706098, 5.13331746774102, -96.75113567322173] scale: 1.0 - object_id: active_perception/omni_objects/walnut/walnut_038 xyz: [0.06725450605154037, -0.007227347232401371, 0.023078378289937973] - rpy: [162.88895335643622, 64.84908063700206, 22.421616736296286] + rpy: [-57.247426889049386, -43.432531347723305, 124.01090810165836] scale: 1.0 diff --git a/cfg/sim/scene_101.yaml b/cfg/sim/scene_101.yaml index 1ef8c68..17521be 100644 --- a/cfg/sim/scene_101.yaml +++ b/cfg/sim/scene_101.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/chair/chair_026 xyz: [-0.009905957616865635, -0.0006897700950503349, 0.2330494225025177] - rpy: [0.10565063351332064, 1.918193594023763, 89.85146259900137] + rpy: [89.85154555727759, 0.11062219744894629, -1.917913410546049] scale: 1.0 - object_id: active_perception/omni_objects/ginger/ginger_039 xyz: [0.02515360713005066, -0.06371907144784927, 0.27924156188964844] - rpy: [-24.917503569186394, -17.108886197782336, 3.671548893435011] + rpy: [-3.935427648505831, -17.051792168001448, -24.95523394180156] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_037 xyz: [0.03158880025148392, -0.033288054168224335, 0.0037636063061654568] - rpy: [51.80609796168332, 19.66309287247925, -24.55551874939152] + rpy: [-30.149510864979153, -7.895539495149477, 53.996028646439996] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_045 xyz: [-0.1293104588985443, -0.0777326375246048, 0.0003228990244679153] - rpy: [-108.9905414383184, 75.30141461130232, 94.38432988044723] + rpy: [-92.8157472740429, -66.74297844515108, 102.07015537613053] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_120 xyz: [0.04060060530900955, 0.0793246328830719, 0.2613307535648346] - rpy: [-89.61567032347179, -5.380350667912583, -3.2477991654026406] + rpy: [-5.401942328176542, 3.2116895374939864, -89.61676169562682] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_060 xyz: [0.10124217718839645, -0.04856496304273605, 0.02158781886100769] - rpy: [-152.42669250550992, -11.06313485369464, 165.87371771072304] + rpy: [-172.21001443759462, -16.136283487745665, 154.9075908660021] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_043 xyz: [0.09215854853391647, -0.021680809557437897, 0.27092188596725464] - rpy: [-93.7090785739682, -81.5059436185168, -93.72407821248427] + rpy: [94.26453802036845, 82.58728293127864, 94.24735404410646] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_037 xyz: [-0.06733741611242294, -0.047576259821653366, 0.2778187692165375] - rpy: [-110.97518895656954, 78.22997206690246, -97.38946941123596] + rpy: [96.30550962615544, 76.18014805847915, -107.79935257364184] scale: 1.0 diff --git a/cfg/sim/scene_102.yaml b/cfg/sim/scene_102.yaml index 0733ba3..4d3e315 100644 --- a/cfg/sim/scene_102.yaml +++ b/cfg/sim/scene_102.yaml @@ -5,40 +5,40 @@ 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] + rpy: [90.0000048296731, 2.0529940334328777e-05, -3.0978419397505e-06] 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] + rpy: [15.865364221776536, 1.6891786773705708, -89.36145102504267] 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] + rpy: [3.7663086345308128, 0.20476811624648608, -86.27911297350528] 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] + rpy: [20.43532142982133, -3.2312893391674664, -100.68764245676931] 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] + rpy: [9.370556070304545, 4.810570482754737, -88.84446545117277] 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] + rpy: [2.4502726860345074, 15.905910492570507, -93.79451436744674] 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] + rpy: [-16.102533731967796, 21.7032332422566, -88.06179068564965] 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] + rpy: [89.2996385976114, 20.281734899060847, -70.55839481169913] scale: 1.0 diff --git a/cfg/sim/scene_103.yaml b/cfg/sim/scene_103.yaml index 7d57a71..7607327 100644 --- a/cfg/sim/scene_103.yaml +++ b/cfg/sim/scene_103.yaml @@ -5,40 +5,40 @@ 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] + rpy: [86.9591994370276, -0.019551288109329008, -1.9507513940365515] 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] + rpy: [-127.57389285937411, 55.93185670873113, -63.35211227587824] 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] + rpy: [6.062102305671606, 3.7816657233094175, -66.20233072478456] 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] + rpy: [56.89530984044404, 38.556029423818316, -68.07240139125463] 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] + rpy: [11.055046972895981, -18.19207860013419, -86.30184991879908] 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] + rpy: [-93.05517491039119, -42.41888941440591, -88.76134502240605] 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] + rpy: [-2.071342777694994, -3.0505845985572186, -89.97570559201043] 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] + rpy: [46.28701770222964, -64.36906167860991, 21.76701941384598] scale: 1.0 diff --git a/cfg/sim/scene_104.yaml b/cfg/sim/scene_104.yaml index cd125d4..27ef8e9 100644 --- a/cfg/sim/scene_104.yaml +++ b/cfg/sim/scene_104.yaml @@ -5,35 +5,35 @@ 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] + rpy: [90.00002414836692, 6.78823373532088e-05, -7.0586644427778696e-06] 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] + rpy: [4.654016823514325, 5.738165332986819, -90.14163095249346] 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] + rpy: [14.541611969346857, 0.7002304541036954, -92.83230881452545] 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] + rpy: [-4.765173020839433, -0.17647326152893217, -91.28844308526314] 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] + rpy: [-93.51569192647155, 37.39714933320805, -99.78031113902401] 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] + rpy: [-57.59875666207703, -11.063300092027893, -103.58017406123061] 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] + rpy: [-10.842114870494536, 4.605027932263322, -90.83836469923257] scale: 1.0 diff --git a/cfg/sim/scene_105.yaml b/cfg/sim/scene_105.yaml index 5c88684..3756f08 100644 --- a/cfg/sim/scene_105.yaml +++ b/cfg/sim/scene_105.yaml @@ -5,40 +5,40 @@ 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] + rpy: [89.91734498502225, 5.55107374285519e-05, -0.03731576212480945] 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] + rpy: [-88.57617915059372, -10.582436738382784, -101.12113939745639] 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] + rpy: [94.99809979679789, -17.432021683543553, -84.31408017834184] 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] + rpy: [87.63428611105412, -51.884968365048884, -18.58761962793746] 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] + rpy: [-12.379645932945758, 20.28000019503847, -87.25695701676389] 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] + rpy: [-89.23188550664186, -38.367573677744396, 80.35952544402103] 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] + rpy: [15.278996077764019, 1.3877147189904246, -90.45769228109397] 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] + rpy: [-23.777426219258455, 4.026314447717023, -91.12315067406652] scale: 1.0 diff --git a/cfg/sim/scene_106.yaml b/cfg/sim/scene_106.yaml index cdfca32..34abe73 100644 --- a/cfg/sim/scene_106.yaml +++ b/cfg/sim/scene_106.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/chair/chair_029 xyz: [-0.0019391891546547413, -0.015277396887540817, 0.4544247090816498] - rpy: [0.2239712429703007, 0.0808951955947846, 88.35216530102127] + rpy: [88.35215409799697, 0.22620485636764429, -0.07442115792893746] 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] + rpy: [-6.165195071100746, 0.5898670136400731, -88.97284497641702] 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] + rpy: [75.65803711037245, -64.80000072654671, -80.61762015524513] 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] + rpy: [4.80996406930527, -12.31949634063078, -89.40354056787082] 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] + rpy: [-30.94290438551263, -16.54320722023532, 132.9265065840336] 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] + rpy: [-1.6535041595393576, 0.07425465346849261, -90.0298512557401] 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] + rpy: [-91.64179895463162, -4.867290463407859, -89.92528627638775] 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] + rpy: [-4.654898319564267, 1.2277334791462298, -90.50324281925208] scale: 1.0 diff --git a/cfg/sim/scene_107.yaml b/cfg/sim/scene_107.yaml index a5373c1..dbe2aef 100644 --- a/cfg/sim/scene_107.yaml +++ b/cfg/sim/scene_107.yaml @@ -5,40 +5,40 @@ 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] + rpy: [90.00000482981197, -0.0005197419205264531, 3.0737597949355124e-05] 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] + rpy: [57.36528147187863, 0.4731867569123711, -91.26111325612673] 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] + rpy: [41.32108472331308, 9.44286961575543, -103.58527807604851] 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] + rpy: [-64.58804517350985, -37.37271557312266, -99.50169843530117] 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] + rpy: [74.15391112364595, 6.088455540671167, -91.30912900716105] 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] + rpy: [4.136446858133184, -3.235964117936873, -89.95556211390392] 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] + rpy: [-2.6459742614931425, -9.909425352859271, -92.10408250332974] 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] + rpy: [25.111138694441685, -1.743748585287102, -90.10581998071316] scale: 1.0 diff --git a/cfg/sim/scene_108.yaml b/cfg/sim/scene_108.yaml index 80ee2e5..48dc119 100644 --- a/cfg/sim/scene_108.yaml +++ b/cfg/sim/scene_108.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/sofa/sofa_013 xyz: [-0.0032460284419357777, -0.00369087397120893, 0.35076382756233215] - rpy: [0.001361728831119986, 0.5148341988876908, 89.41330351181674] + rpy: [89.41332719353237, 0.00663328611584828, -0.5147932665635238] 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] + rpy: [-7.348980511254663, -50.78384219720765, -100.59773502386899] 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] + rpy: [8.13925496553534, 3.8097847484103964, -89.83230930912143] 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] + rpy: [-87.22314029419529, -19.98907491277943, -95.92340873693242] 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] + rpy: [0.018879564521758395, 7.107114777743584, -93.21194383248462] 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] + rpy: [173.81647288939607, -7.1116277511783785, -83.3229470030156] 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] + rpy: [-25.57363980974706, 5.640878993541535, -89.19846816919838] scale: 1.0 diff --git a/cfg/sim/scene_109.yaml b/cfg/sim/scene_109.yaml index f32b250..1e1f0c5 100644 --- a/cfg/sim/scene_109.yaml +++ b/cfg/sim/scene_109.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/chair/chair_028 xyz: [-0.0033853212371468544, 0.0246126689016819, 0.365233838558197] - rpy: [5.066498008519197, 6.223703296468185, 117.35812275070941] + rpy: [117.19575027168057, 1.650850693456084, -7.8482196929970405] 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] + rpy: [177.16484437681115, 1.4302478655419502, -122.87402688973847] 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] + rpy: [179.61255871829331, -1.701307352051347, -109.42894845123168] 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] + rpy: [-94.49569017384121, -61.05888316427183, 91.28158140991712] 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] + rpy: [-166.13876425677873, 13.24966671283484, -151.65974611260282] 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] + rpy: [-86.50101704255411, -21.254434570752625, -117.24230361501277] 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] + rpy: [-29.92307278096727, 4.725522457696794, -95.82645701759] 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] + rpy: [32.17540741710854, 6.286994362240994, -95.95484696000271] scale: 1.0 diff --git a/cfg/sim/scene_11.yaml b/cfg/sim/scene_11.yaml index 4fcc7a9..3147972 100644 --- a/cfg/sim/scene_11.yaml +++ b/cfg/sim/scene_11.yaml @@ -5,40 +5,40 @@ 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] + rpy: [89.99998551254829, 0.7876539285367913, -2.7774491455798347e-07] 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] + rpy: [-2.265351704179794, 1.2668109832113614, -89.95681215501007] 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] + rpy: [3.7567435704589363, -0.1153777554186899, -91.19835763572486] 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] + rpy: [85.8813024385551, -42.0178277634929, -34.30674155082405] 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] + rpy: [64.19503424210437, 49.46515519088135, -50.454578939582625] 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] + rpy: [8.14246956561994, -9.279585093929382, -113.47845124015353] 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] + rpy: [17.438488666625492, 11.440271468311465, -93.09371657017915] 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] + rpy: [-3.8204828239588613, -3.4689224237583787, -90.21521304283445] scale: 1.0 diff --git a/cfg/sim/scene_110.yaml b/cfg/sim/scene_110.yaml index 58b4f08..8b80500 100644 --- a/cfg/sim/scene_110.yaml +++ b/cfg/sim/scene_110.yaml @@ -5,40 +5,40 @@ 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] + rpy: [90.0000048296678, -7.639469596636584e-05, -7.0680799024125e-06] 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] + rpy: [-4.556799249685945, 1.2683952975201909, -88.56290243529983] 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] + rpy: [-5.404778826729677, 13.240221794145446, -88.33281447074187] 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] + rpy: [-3.4459711785168112, -0.751649282258692, -90.32705346144027] 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] + rpy: [-1.8265531827326338, -2.3739295680938777, -82.32786438152175] 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] + rpy: [-2.135316745749488, 2.8561988462837755, -36.4071886040197] 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] + rpy: [-8.011838515264667, 7.327649902984734, -101.48393954832028] 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] + rpy: [-6.8547257291970825, 22.14266294221921, -98.41281464470806] scale: 1.0 diff --git a/cfg/sim/scene_111.yaml b/cfg/sim/scene_111.yaml index 5198f7d..69e7a15 100644 --- a/cfg/sim/scene_111.yaml +++ b/cfg/sim/scene_111.yaml @@ -5,40 +5,40 @@ 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] + rpy: [89.80079367644242, -0.2796066303486895, 1.0820157750802983] 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] + rpy: [151.45207636815863, 5.055962764631404, -92.20545684146629] 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] + rpy: [-7.782737937151437, -38.48357059533813, 150.1678106507608] 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] + rpy: [-101.76791489530744, 20.088317926896515, 24.767216249199812] 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] + rpy: [104.36311929492537, -52.2949774007267, 178.15251863827422] 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] + rpy: [81.04485751949474, -13.299433464838586, -5.491695117589152] 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] + rpy: [-63.08159705751216, 55.299824879228474, -81.49575571349618] 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] + rpy: [71.50297985978304, -54.72517291888764, 110.48538619603983] scale: 1.0 diff --git a/cfg/sim/scene_112.yaml b/cfg/sim/scene_112.yaml index b91f079..891a8ba 100644 --- a/cfg/sim/scene_112.yaml +++ b/cfg/sim/scene_112.yaml @@ -5,35 +5,35 @@ 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] + rpy: [90.00000965935413, 2.021747058175845e-05, -4.889365839886031e-05] 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] + rpy: [3.5070672786537553, -13.866007249110167, -87.46901827648912] 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] + rpy: [1.2917561073339938, 1.979223502058175, -90.86756402690132] 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] + rpy: [92.3086054095408, -7.95163093109079, -95.01812926589258] 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] + rpy: [-21.449930474596535, -4.209885064752298, -92.6273588884607] 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] + rpy: [-0.46271549811824025, 3.7936949414999033, -88.05254839657417] 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] + rpy: [-71.55002467894063, 19.015247265633107, 171.17651049440664] scale: 1.0 diff --git a/cfg/sim/scene_113.yaml b/cfg/sim/scene_113.yaml index d9a8d32..37837c4 100644 --- a/cfg/sim/scene_113.yaml +++ b/cfg/sim/scene_113.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/chair/chair_027 xyz: [0.010664074681699276, 0.020448263734579086, 0.4091029167175293] - rpy: [-0.13091227867056363, -1.5795545713291652, 92.97206661460625] + rpy: [92.97093734101004, -0.04884820727236858, 1.5842161428639592] 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] + rpy: [104.49301179796946, 77.9291075470477, -92.39404214367025] 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] + rpy: [-3.5191262452420777, -2.77226243988671, -91.98865131683354] 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] + rpy: [2.5747144619457534, -5.612481083089646, -138.07886061200435] 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] + rpy: [-159.28981115173428, 21.84539131427876, -178.53432576323368] 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] + rpy: [3.9301918344164615, 0.750237593705135, -178.99195118072814] 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] + rpy: [35.12427640492834, -2.5503302963541885, -90.12237480531233] 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] + rpy: [19.7003811457463, -6.8349937013929205, -83.8781277563059] scale: 1.0 diff --git a/cfg/sim/scene_114.yaml b/cfg/sim/scene_114.yaml index b8c1e39..cb981ce 100644 --- a/cfg/sim/scene_114.yaml +++ b/cfg/sim/scene_114.yaml @@ -5,35 +5,35 @@ 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] + rpy: [89.99999034067385, -7.123296540259878e-05, 3.2444644062773827e-05] 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] + rpy: [77.22168165300297, 20.376476816696687, -71.66470825105438] 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] + rpy: [84.9690236809716, -52.51391496608498, -35.54819108135322] 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] + rpy: [-127.71460522274072, -4.0505867471790395, -91.30734447905392] 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] + rpy: [-1.425206162786807, -0.021303093726072177, -6.253530208529512] 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] + rpy: [-95.90315891217098, 10.463312254438016, -89.5186659579546] 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] + rpy: [85.10251708497546, -61.87820390306091, 0.20810053974433365] scale: 1.0 diff --git a/cfg/sim/scene_115.yaml b/cfg/sim/scene_115.yaml index df76139..a378342 100644 --- a/cfg/sim/scene_115.yaml +++ b/cfg/sim/scene_115.yaml @@ -5,35 +5,35 @@ 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] + rpy: [89.72899176573159, -0.4182136965618633, 1.4661172831001799] 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] + rpy: [144.66295743258294, 50.82348154635166, 112.30313244699069] 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] + rpy: [144.56184580172987, -58.331346138148504, -31.09064876008582] 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] + rpy: [-17.892968444535427, -43.36307401354025, -100.87203354228352] 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] + rpy: [128.767117529123, -27.346318876640154, 31.67928787724621] 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] + rpy: [112.34197287507644, -63.957036912410835, 79.74669017988975] 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] + rpy: [-71.90742388578029, -27.604337653995284, -75.22081052479962] scale: 1.0 diff --git a/cfg/sim/scene_116.yaml b/cfg/sim/scene_116.yaml index 18fda49..dd4a440 100644 --- a/cfg/sim/scene_116.yaml +++ b/cfg/sim/scene_116.yaml @@ -5,35 +5,35 @@ 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] + rpy: [89.99994686857228, 0.013844968468501969, 4.1629329748714964e-05] 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] + rpy: [5.528959461147853, 2.2439768666385165, -90.05553724068385] 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] + rpy: [64.95333816811446, -40.922613504187254, -86.20908036152007] 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] + rpy: [-95.6489631659535, -29.827185987314696, -92.03176913353386] 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] + rpy: [0.9885272821449111, 3.4159279297875726, -89.68244235104943] 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] + rpy: [-1.0051648571522867, 0.8819746370176896, -90.18661773917212] 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] + rpy: [1.622670207821131, -2.1792980636085892, -88.98180444465994] scale: 1.0 diff --git a/cfg/sim/scene_117.yaml b/cfg/sim/scene_117.yaml index 9be1ecf..00b9829 100644 --- a/cfg/sim/scene_117.yaml +++ b/cfg/sim/scene_117.yaml @@ -5,20 +5,20 @@ 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] + rpy: [90.65077306170488, 2.767019351325469, -0.21714080535458719] 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] + rpy: [36.49792358776725, -24.025782022299346, 71.05555561151125] 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] + rpy: [-92.3265482367663, 9.661922928625204, -90.12043076759254] 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] + rpy: [-87.88214831493802, 84.11308091359663, -111.88268254482722] scale: 1.0 diff --git a/cfg/sim/scene_118.yaml b/cfg/sim/scene_118.yaml index a0ea617..e6348f8 100644 --- a/cfg/sim/scene_118.yaml +++ b/cfg/sim/scene_118.yaml @@ -5,30 +5,30 @@ 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] + rpy: [89.99999999999994, -1.2336979154393727e-05, -4.1637654023649474e-07] 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] + rpy: [-69.9350652710847, -2.2755268233602965, 94.53023971897312] 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] + rpy: [0.5256202678986822, 1.2119863167827287, -90.73396130786865] 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] + rpy: [-18.299643731221042, 3.644769994336128, -90.08734769250096] 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] + rpy: [1.2812118443166118, -2.800091520240385, 175.52324427766453] 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] + rpy: [-5.416519285136875, 4.417400825995271, -71.91600213088554] scale: 1.0 diff --git a/cfg/sim/scene_119.yaml b/cfg/sim/scene_119.yaml index 367a447..efd322e 100644 --- a/cfg/sim/scene_119.yaml +++ b/cfg/sim/scene_119.yaml @@ -5,10 +5,10 @@ objects: - object_id: active_perception/omni_objects/chair/chair_027 xyz: [0.010605523362755775, 0.020392291247844696, 0.409040629863739] - rpy: [-0.12730045523684103, -1.5689536705273486, 92.96182049299054] + rpy: [92.96071006881567, -0.04607201702318044, 1.5734341035694401] 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] + rpy: [78.53620490618171, 56.829020833034875, 80.51447716457861] scale: 1.0 diff --git a/cfg/sim/scene_12.yaml b/cfg/sim/scene_12.yaml index 1fe22bd..0ca8866 100644 --- a/cfg/sim/scene_12.yaml +++ b/cfg/sim/scene_12.yaml @@ -5,40 +5,40 @@ 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] + rpy: [89.99999036063909, -0.02836000059267918, 8.075314548711585e-05] 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] + rpy: [-125.41770156138233, -81.93306558718467, -153.28201269837714] 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] + rpy: [-3.4401937738929362, -0.7774868716195458, -89.87886325098333] 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] + rpy: [-41.056304953986825, -27.062032782297564, -96.69929041862622] 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] + rpy: [-99.55507365658539, -51.00642672879937, -105.42459122125777] 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] + rpy: [23.565737004101464, 0.18796407198918727, -90.029771073494] 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] + rpy: [-38.18641514041389, -19.660766031739467, 116.36591624074839] 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] + rpy: [-6.413055449508711, -3.182469826707785, -96.00404730215308] scale: 1.0 diff --git a/cfg/sim/scene_120.yaml b/cfg/sim/scene_120.yaml index 8451279..2e2d506 100644 --- a/cfg/sim/scene_120.yaml +++ b/cfg/sim/scene_120.yaml @@ -5,35 +5,35 @@ 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] + rpy: [89.91770722121804, 7.801805402733957e-05, -0.03732607129313491] 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] + rpy: [-11.561719573382812, 4.660877773170933, -89.99420455163381] 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] + rpy: [-9.194436680487456, -7.9135990799207985, -90.34478592345394] 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] + rpy: [-3.029776064267987, 1.128779623897059, -90.12007667621207] 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] + rpy: [170.13541204827914, -79.36493584977933, 88.68492525458065] 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] + rpy: [-17.040280105623673, 0.8274079718673878, -87.94079304557377] 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] + rpy: [86.65912352746112, -39.83040868017256, -30.356407519416855] scale: 1.0 diff --git a/cfg/sim/scene_121.yaml b/cfg/sim/scene_121.yaml index 5a6705b..989c7ec 100644 --- a/cfg/sim/scene_121.yaml +++ b/cfg/sim/scene_121.yaml @@ -5,30 +5,30 @@ objects: - object_id: active_perception/omni_objects/table/table_025 xyz: [0.0002965228632092476, 0.0025230050086975098, 0.21724006533622742] - rpy: [-0.1360366154848852, -0.012102853921545129, 90.63605219734188] + rpy: [90.6360539722572, -0.13589387969762076, 0.013612250312281117] 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] + rpy: [-127.55194847422536, -2.073223536534303, -89.85551093951693] 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] + rpy: [-7.270110224081001, 2.0825734440992663, -89.0633734640278] 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] + rpy: [2.400131533230208, 2.487167285636626, -84.59239342491728] 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] + rpy: [-0.14098932148477644, 1.4199311028861301, -89.98544359222505] 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] + rpy: [-0.017786307700444693, -5.251595896738971, -90.11040014087074] scale: 1.0 diff --git a/cfg/sim/scene_122.yaml b/cfg/sim/scene_122.yaml index 2b6e634..6b551d6 100644 --- a/cfg/sim/scene_122.yaml +++ b/cfg/sim/scene_122.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/table/table_025 xyz: [0.000270746648311615, 0.002130456268787384, 0.22824013233184814] - rpy: [-0.139512891794777, -0.011966017580388453, 90.636086178307] + rpy: [90.63608804638079, -0.13937145280811256, 0.013514095347432658] 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] + rpy: [7.102580367888286, 2.962503400723904, -90.2148576596744] 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] + rpy: [-5.258523029824535, 13.238687949594283, -88.72907603507733] 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] + rpy: [94.42632079790737, -47.615792045041914, -83.5175587881205] 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] + rpy: [118.06302141707361, -78.31927961689787, -54.95012617117057] 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] + rpy: [-0.051926771621424464, 5.903064830069194, -86.74297606848712] 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] + rpy: [-12.199920183237193, 21.490034259235784, -90.43962008469211] scale: 1.0 diff --git a/cfg/sim/scene_123.yaml b/cfg/sim/scene_123.yaml index 0bce9ad..ff3b948 100644 --- a/cfg/sim/scene_123.yaml +++ b/cfg/sim/scene_123.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/cabinet/cabinet_009 xyz: [0.006830718368291855, -0.009738527238368988, 0.42000433802604675] - rpy: [0.018960223808953312, -0.9603853137865145, 88.61150271868449] + rpy: [88.61169780502719, -0.0043158076600190096, 0.9605627428257208] 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] + rpy: [31.90638573607178, -13.36899161862683, -81.85168906587894] 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] + rpy: [43.77203131873986, -44.326326802267836, -75.11971435908951] 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] + rpy: [-16.653779491226327, 15.61535520694765, -89.06418645704353] 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] + rpy: [-103.87130409680026, -69.77432647216871, 78.45781843035759] 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] + rpy: [18.529642424143738, 19.066201072769108, -90.9195440388725] 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] + rpy: [-7.758600398730402, -1.5482469884668202, -123.1068675390583] scale: 1.0 diff --git a/cfg/sim/scene_124.yaml b/cfg/sim/scene_124.yaml index 031e578..5b1b23f 100644 --- a/cfg/sim/scene_124.yaml +++ b/cfg/sim/scene_124.yaml @@ -5,35 +5,35 @@ 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] + rpy: [89.94738293971385, -0.3588291876829071, 0.28463731089163496] 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] + rpy: [32.37396020325852, -16.090706852762416, -156.00534239001607] 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] + rpy: [-101.43710388122321, -2.2535953115867837, 165.12348448280795] 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] + rpy: [-43.38659076046681, -19.783656135010595, -85.33360277736291] 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] + rpy: [54.447158278728324, -45.811332761522266, -126.75908233530083] 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] + rpy: [-40.20376605918903, -5.96365037493487, -80.94837162561006] 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] + rpy: [22.366350890671086, -56.30272827538984, -167.1176949423994] scale: 1.0 diff --git a/cfg/sim/scene_125.yaml b/cfg/sim/scene_125.yaml index 92681ac..59ad23d 100644 --- a/cfg/sim/scene_125.yaml +++ b/cfg/sim/scene_125.yaml @@ -5,25 +5,25 @@ objects: - object_id: active_perception/omni_objects/chair/chair_027 xyz: [0.012498665601015091, 0.023541001603007317, 0.39406082034111023] - rpy: [-0.44731775803452767, -1.9439615622581203, 93.26196617418881] + rpy: [93.26014294594617, -0.3360010588144796, 1.9662529233661101] 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] + rpy: [4.882483224615528, -3.7982204255643763, -71.5869750214692] 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] + rpy: [125.26260212741069, 25.949322870528686, -103.11093435970041] 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] + rpy: [-91.66016115295724, -36.575717598646115, -86.34517919109858] 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] + rpy: [86.22472333669862, 39.542063462259655, -74.57221663926299] scale: 1.0 diff --git a/cfg/sim/scene_126.yaml b/cfg/sim/scene_126.yaml index 16b1705..520ee7d 100644 --- a/cfg/sim/scene_126.yaml +++ b/cfg/sim/scene_126.yaml @@ -5,40 +5,40 @@ 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] + rpy: [87.81722512023084, -0.0312718436216576, 0.081231815742128] 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] + rpy: [14.279409489723394, 6.0940268166409695, -73.46305733352493] 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] + rpy: [37.396695300535804, -17.569762302031503, -60.74112004837384] 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] + rpy: [9.090388051158945, -59.653495226637176, -59.52653992948702] 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] + rpy: [-45.84151046286324, -2.360045693937777, -72.10314413913207] 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] + rpy: [44.9267218889723, -57.505166262526245, -95.35766315204305] 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] + rpy: [-41.47176709466423, -37.338731721741254, -121.23766028119427] 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] + rpy: [-103.59891363629153, -70.44707902896607, -46.74247022694137] scale: 1.0 diff --git a/cfg/sim/scene_127.yaml b/cfg/sim/scene_127.yaml index 3b489f9..e1a77b0 100644 --- a/cfg/sim/scene_127.yaml +++ b/cfg/sim/scene_127.yaml @@ -5,40 +5,40 @@ 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] + rpy: [89.9079802319663, 6.430651142726411e-05, 0.010111446155748658] 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] + rpy: [72.86025257966456, -22.046176107471904, -81.3820314840762] 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] + rpy: [6.045423225189912, -3.4126113535802896, -89.76636421378858] 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] + rpy: [5.315933178163986, -4.219220355572896, -90.90586764621264] 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] + rpy: [-93.70689130594006, 32.14283812665585, -98.50327827730607] 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] + rpy: [-2.0692914860584923, 1.182344493558205, -90.04759501323699] 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] + rpy: [-16.2765508227352, 13.501131196530437, -83.45800555870038] 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] + rpy: [-12.291448569338243, -36.776136171611654, -94.84251117081358] scale: 1.0 diff --git a/cfg/sim/scene_128.yaml b/cfg/sim/scene_128.yaml index 1e7f4d3..1e2c829 100644 --- a/cfg/sim/scene_128.yaml +++ b/cfg/sim/scene_128.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/chair/chair_028 xyz: [-0.004133913200348616, -0.0005471608601510525, 0.2918606400489807] - rpy: [-0.1105912500805935, 0.837743352471836, 89.71304944825626] + rpy: [89.71307962610838, -0.10639441746132229, -0.8382866534123802] 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] + rpy: [131.38858687728913, -2.4192591244979513, -125.6144378943566] 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] + rpy: [-12.075257876439561, -1.1776096050506712, -90.88471174168929] 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] + rpy: [79.0384050847254, -30.708928689694666, -91.01075307299193] 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] + rpy: [-0.20185629474467218, 8.335460266246729, -80.62440054097374] 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] + rpy: [47.98825837947137, 32.41622999273955, -94.38075637451531] 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] + rpy: [82.77055951149053, -56.34489564745147, -45.00047853082079] 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] + rpy: [-161.90708885641965, 7.688946819931664, -68.17023886739167] scale: 1.0 diff --git a/cfg/sim/scene_129.yaml b/cfg/sim/scene_129.yaml index e112e32..41013f0 100644 --- a/cfg/sim/scene_129.yaml +++ b/cfg/sim/scene_129.yaml @@ -5,40 +5,40 @@ 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] + rpy: [85.95997709675261, 0.08601694635721846, -1.9309618955151853] 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] + rpy: [-2.27417321118117, 2.8037603349231826, -165.87152307611598] 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] + rpy: [-152.080622895233, -12.736381241880178, 20.656101934304086] 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] + rpy: [145.59418733703987, -62.16487837682357, 64.7942195623331] 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] + rpy: [-23.210250094576722, 4.10148659907714, -81.91502723843347] 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] + rpy: [-17.37324557497866, -4.627407300180566, -96.45214062698709] 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] + rpy: [-18.118336987573887, -17.785108312012294, -95.72306453317384] 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] + rpy: [-52.183610565437014, -71.12155488735037, -63.987481296467365] scale: 1.0 diff --git a/cfg/sim/scene_13.yaml b/cfg/sim/scene_13.yaml index 7ec1527..5eb41bf 100644 --- a/cfg/sim/scene_13.yaml +++ b/cfg/sim/scene_13.yaml @@ -5,40 +5,40 @@ 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] + rpy: [90.00108184660063, -3.0029595917819807e-05, -0.0003675160288660804] 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] + rpy: [130.0600580208261, 85.20486593206527, -115.43018855740145] 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] + rpy: [0.724435158804241, -8.245628747907851, -89.73987209834979] 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] + rpy: [2.4387304388550386, -6.361217190854313, -90.84606024161965] 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] + rpy: [84.28157205673418, 0.06048185339945016, -90.08575762285905] 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] + rpy: [4.121849908787732, -3.231193764949621, -89.71746110512382] 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] + rpy: [179.99230506005057, 0.006751981470323642, 47.88444329448131] 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] + rpy: [1.0336442796235727, 3.4135159014100576, -90.05850746811782] scale: 1.0 diff --git a/cfg/sim/scene_130.yaml b/cfg/sim/scene_130.yaml index 5af5c4d..5221e04 100644 --- a/cfg/sim/scene_130.yaml +++ b/cfg/sim/scene_130.yaml @@ -5,35 +5,35 @@ 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] + rpy: [88.54230721520679, 0.009198027031135949, 0.42146676072587747] 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] + rpy: [14.7152981047443, -4.512066172915436, 35.844779854750634] 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] + rpy: [90.13495663642914, -27.993730716939396, 83.46669326686838] 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] + rpy: [-69.58247299042962, -1.8762077847848957, 97.36759652719773] 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] + rpy: [-87.76581874731899, -19.35379995434233, 84.22583064729466] 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] + rpy: [-72.63662470345892, -28.10644408789729, 176.16075049409537] 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] + rpy: [74.47201134805195, -14.597175631042209, 78.36697571614752] scale: 1.0 diff --git a/cfg/sim/scene_131.yaml b/cfg/sim/scene_131.yaml index bcde153..7e58b9b 100644 --- a/cfg/sim/scene_131.yaml +++ b/cfg/sim/scene_131.yaml @@ -5,30 +5,30 @@ 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] + rpy: [90.65002787537001, 0.004632307658611508, -0.18574216762566018] 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] + rpy: [-88.65642702999706, 58.98338942478907, 139.4313044804319] 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] + rpy: [2.17389971557482, -3.644253962391141, -167.9555982875637] 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] + rpy: [-95.9490015150163, -15.549053125642644, 90.13689044781522] 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] + rpy: [-123.02872522262412, 80.44258735623706, 30.40460626213988] 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] + rpy: [-2.2214719461002677, -4.1009467668708925, -76.26263542453108] scale: 1.0 diff --git a/cfg/sim/scene_132.yaml b/cfg/sim/scene_132.yaml index ce3af2b..5ff7fbd 100644 --- a/cfg/sim/scene_132.yaml +++ b/cfg/sim/scene_132.yaml @@ -5,40 +5,40 @@ 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] + rpy: [90.0000144890197, 0.00012004982816367546, -8.172922769442081e-07] 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] + rpy: [91.25312657049082, -31.093169567336414, 95.09234299714619] 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] + rpy: [4.31349338472527, 3.8013995078561913, 26.340080184263808] 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] + rpy: [54.60716088081124, 3.212955219848396, -89.85739869539199] 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] + rpy: [-16.743700554383558, 1.8211780951471486, -91.15824129967051] 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] + rpy: [8.806908145140566, 2.170432725586703, -90.48882559653612] 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] + rpy: [17.47397787799391, 11.39162312418675, -93.21070199280943] 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] + rpy: [-6.4018664311736595, -84.56257921693386, -75.66137123260667] scale: 1.0 diff --git a/cfg/sim/scene_133.yaml b/cfg/sim/scene_133.yaml index ef0506e..d1412d0 100644 --- a/cfg/sim/scene_133.yaml +++ b/cfg/sim/scene_133.yaml @@ -5,40 +5,40 @@ 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] + rpy: [90.00000000000081, -1.2719308620098278e-05, 7.285926295765355e-06] 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] + rpy: [-117.84740498269294, 0.41597538515113924, -91.47100628087826] 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] + rpy: [84.4908238067847, -15.750385166926307, -70.56544944073316] 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] + rpy: [-89.82819459585092, 3.264168418879808, -86.96278557225622] 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] + rpy: [-7.779565652396429, -41.27975990411281, -178.74739831307176] 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] + rpy: [39.40214175680661, 16.14393497525941, -92.76217688359695] 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] + rpy: [2.74185462290078, -0.8044976682842028, -90.74561427636156] 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] + rpy: [-61.03634053841928, -15.667263832647267, 86.53164816104128] scale: 1.0 diff --git a/cfg/sim/scene_134.yaml b/cfg/sim/scene_134.yaml index 851ae02..99cb30e 100644 --- a/cfg/sim/scene_134.yaml +++ b/cfg/sim/scene_134.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/sofa/sofa_013 xyz: [-0.0031492728739976883, -0.003612925298511982, 0.3673896789550781] - rpy: [0.0025683974771866626, 0.5148419854252148, 89.41332820249723] + rpy: [89.41335188237235, 0.007839749397082044, -0.5147887007577405] 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] + rpy: [-6.436294991004921, -9.704445443194977, -81.72321914974427] 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] + rpy: [-46.42825582733012, 5.611178863244303, -78.80072648818441] 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] + rpy: [1.5534564827795314, -38.48275118617655, -86.67609875832748] 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] + rpy: [2.3739429331769517, 13.08315164606955, -86.84756503236096] 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] + rpy: [71.11134649117432, -15.613751127127374, -102.31026099702304] 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] + rpy: [24.302409837181937, -56.721247108393406, -80.76203133022435] 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] + rpy: [85.17568607148532, -49.70826185578155, -30.085088746803937] scale: 1.0 diff --git a/cfg/sim/scene_135.yaml b/cfg/sim/scene_135.yaml index 5c5266d..739997e 100644 --- a/cfg/sim/scene_135.yaml +++ b/cfg/sim/scene_135.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/chair/chair_027 xyz: [0.012179690413177013, 0.02302008494734764, 0.37148424983024597] - rpy: [-0.3870621993791734, -1.8453497130534704, 93.16569183675473] + rpy: [93.16408746095836, -0.28458279443852463, 1.8638997042338974] 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] + rpy: [-97.66406920079523, 13.071488196197153, -91.24942869146831] 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] + rpy: [-104.22392000369918, -65.2699460114099, 171.58754099270615] 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] + rpy: [53.901372392146854, -2.5451190199244773, -84.22467573454054] 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] + rpy: [0.5990419600158899, 2.997167502965117, -88.59165502409851] 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] + rpy: [76.02500341096152, -6.541787371762332, -87.67801841763746] 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] + rpy: [82.74986026496025, -13.807155222259098, -88.6342211997759] 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] + rpy: [-80.36366226957344, -22.55957742265908, -100.95319145220374] scale: 1.0 diff --git a/cfg/sim/scene_136.yaml b/cfg/sim/scene_136.yaml index 74fa327..bea4320 100644 --- a/cfg/sim/scene_136.yaml +++ b/cfg/sim/scene_136.yaml @@ -5,35 +5,35 @@ 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] + rpy: [82.15370705287218, -0.3422664137004037, -0.7267207860082523] 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] + rpy: [6.536576441437477, 1.726938451075627, -74.90123877330932] 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] + rpy: [3.645253276980472, 1.7659165051347792, -102.98131261808427] 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] + rpy: [-53.955920327306764, -6.841039249959379, -38.93967392566561] 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] + rpy: [-13.598167862134966, -9.741379334046622, -82.03613397073663] 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] + rpy: [-104.13583446449616, -3.6752852784411583, -127.33813296558328] 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] + rpy: [59.25915368870394, -51.62329123533469, -102.24042972710858] scale: 1.0 diff --git a/cfg/sim/scene_137.yaml b/cfg/sim/scene_137.yaml index cc8d468..63e2b34 100644 --- a/cfg/sim/scene_137.yaml +++ b/cfg/sim/scene_137.yaml @@ -5,35 +5,35 @@ 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] + rpy: [90.00107701699979, -2.2245992938938948e-05, -0.00035960319603204835] 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] + rpy: [-4.465231921783014, -7.811411141914344, -91.53715897690631] 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] + rpy: [-55.92818861594407, 44.11355035860194, -118.2862053432787] 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] + rpy: [32.02079150091908, -14.83807781632111, -88.25749406249817] 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] + rpy: [-11.221411733369038, -32.26857905158759, -93.83683591713462] 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] + rpy: [-4.501068565438425, 0.49469287310719307, -89.99547957156925] 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] + rpy: [-7.9170690080421515, 21.26737647301739, -92.24646779047467] scale: 1.0 diff --git a/cfg/sim/scene_138.yaml b/cfg/sim/scene_138.yaml index 980a45f..a21bd40 100644 --- a/cfg/sim/scene_138.yaml +++ b/cfg/sim/scene_138.yaml @@ -5,35 +5,35 @@ 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] + rpy: [80.90744794866329, -1.6354792995234049, 4.485853173591559] 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] + rpy: [-40.9083801567897, 36.878541072664405, -159.26036126377466] 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] + rpy: [141.02283267915954, 40.6374458390311, 104.4950584323145] 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] + rpy: [-1.509272633216e-06, -9.055636613517998e-07, -89.99999517032747] 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] + rpy: [-24.806459905816887, -21.08765588795924, -36.7883140002435] 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] + rpy: [-7.970845846088735e-07, -2.9713805411717653e-07, -90.0] 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] + rpy: [64.12283608162143, 23.130020762307268, -122.82640170682208] scale: 1.0 diff --git a/cfg/sim/scene_139.yaml b/cfg/sim/scene_139.yaml index 05a63cb..4e82f7e 100644 --- a/cfg/sim/scene_139.yaml +++ b/cfg/sim/scene_139.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/chair/chair_027 xyz: [0.008757415227591991, 0.019378365948796272, 0.3371662199497223] - rpy: [-0.501188094496758, -1.1719943272263942, 92.56623867920328] + rpy: [92.5657800245494, -0.44821404605685816, 1.1932553746475334] 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] + rpy: [-162.07797428875648, -71.55894958531262, 38.969365129395676] 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] + rpy: [20.05894061814264, -1.34839706490534, -88.96860877735215] 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] + rpy: [-32.418292045723334, -0.9210144263106675, -85.97439434663991] 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] + rpy: [6.759517170658778, -4.3235232544451865, -88.21804319796702] 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] + rpy: [178.28206939911863, 4.901941763893248, -122.04927107554747] 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] + rpy: [15.077344772311916, 7.305730695343209, -94.97497847447656] scale: 1.0 diff --git a/cfg/sim/scene_14.yaml b/cfg/sim/scene_14.yaml index 31f67b0..945ad9d 100644 --- a/cfg/sim/scene_14.yaml +++ b/cfg/sim/scene_14.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/chair/chair_028 xyz: [-0.004109079949557781, -0.0005391123704612255, 0.29186055064201355] - rpy: [-0.10971551478410467, 0.8384867550401243, 89.71397764053638] + rpy: [89.71400778304815, -0.10552856215280602, -0.8390239518713957] 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] + rpy: [1.222527753834224, 28.306493898506464, -76.96992329451811] 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] + rpy: [9.24757158664565, 1.299143358990979, -88.6749877274676] 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] + rpy: [90.53946111487375, -33.92980534185026, 28.792180862395046] 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] + rpy: [65.74591318590488, 1.9700106477556019, -140.43213997715483] 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] + rpy: [-9.771248852136095, 33.49226596960973, -89.31547896160079] 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] + rpy: [-3.640337492547682, 7.492456313872742, -89.69804208333579] scale: 1.0 diff --git a/cfg/sim/scene_140.yaml b/cfg/sim/scene_140.yaml index 89a6e04..936cc56 100644 --- a/cfg/sim/scene_140.yaml +++ b/cfg/sim/scene_140.yaml @@ -5,40 +5,40 @@ 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] + rpy: [90.6361108508858, -0.4147121304047579, 0.016500508018067347] 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] + rpy: [2.4148337963858078, -4.533022713632721, -89.6975306706121] 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] + rpy: [0.04166799892805397, -0.02138614928509287, -89.91522662032165] 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] + rpy: [-3.3254807048475947, -0.853343267873374, -90.09041224778267] 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] + rpy: [-91.50453424760205, -12.218284680194886, 146.56523320370917] 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] + rpy: [91.93874182036059, -71.18560899950354, -77.45910636542492] 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] + rpy: [-65.43117603200434, 15.733096845912502, -90.45978483748883] 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] + rpy: [-83.31244447112364, -4.522012519631355, 88.91450402223444] scale: 1.0 diff --git a/cfg/sim/scene_141.yaml b/cfg/sim/scene_141.yaml index 094a61d..2e95ae4 100644 --- a/cfg/sim/scene_141.yaml +++ b/cfg/sim/scene_141.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/chair/chair_029 xyz: [0.0010277070105075836, -0.013396093621850014, 0.47130998969078064] - rpy: [0.48685294697889697, -0.2507679729392742, 88.58330063786765] + rpy: [88.58326437921104, 0.48050427379070004, 0.2627282167375067] 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] + rpy: [-0.07878344244904019, -35.197220193232795, -153.6560010196826] 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] + rpy: [69.54721202145544, 1.406402140570401, -89.84541336089633] 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] + rpy: [-1.152843745927983, -4.467845309954295, -90.21077957559957] 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] + rpy: [-108.02093766657353, 1.8924868426992525, -87.26868594531645] 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] + rpy: [-2.862215259119414, 5.199877868236294, -86.14569270365233] 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] + rpy: [-15.250526062309012, 6.034774178841092, -38.33276683694974] 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] + rpy: [-1.3856722408468174, 1.1343884257558465, -90.19021049827938] scale: 1.0 diff --git a/cfg/sim/scene_142.yaml b/cfg/sim/scene_142.yaml index 5bf0555..085aca6 100644 --- a/cfg/sim/scene_142.yaml +++ b/cfg/sim/scene_142.yaml @@ -5,20 +5,20 @@ objects: - object_id: active_perception/omni_objects/sofa/sofa_014 xyz: [-0.02558593451976776, 0.0038341358304023743, 0.34714609384536743] - rpy: [-0.04182334639860427, 4.374079599340154, 90.6081033216679] + rpy: [90.6063327863545, -0.08819893704753332, -4.373391612376957] 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] + rpy: [3.9738969894444485, -19.551070163782498, -132.14772141382218] 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] + rpy: [-23.89348787275002, 2.5733070389571795, 39.37270914477111] 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] + rpy: [-21.322219315282602, 25.60713918906377, -77.22568620643206] scale: 1.0 diff --git a/cfg/sim/scene_143.yaml b/cfg/sim/scene_143.yaml index 70ed401..920f291 100644 --- a/cfg/sim/scene_143.yaml +++ b/cfg/sim/scene_143.yaml @@ -5,40 +5,40 @@ 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] + rpy: [89.89340909879584, -7.407725993514124e-06, -0.005351692327482832] 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] + rpy: [-0.29922627285278863, 0.24149998643924736, -90.70987104488947] 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] + rpy: [18.702003794951516, -8.915749857029278, -81.23683670961624] 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] + rpy: [-80.88452666950107, -42.378935693152016, -87.70277204831798] 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] + rpy: [21.155370927019906, 62.38994595270411, 93.89119024286062] 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] + rpy: [-0.42652625985045484, 1.3601230141572034, -79.71302783587161] 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] + rpy: [-91.50218493233817, 28.63360930718784, 87.66275023755588] 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] + rpy: [84.5306348209863, 45.26747839048851, -168.89161703711744] scale: 1.0 diff --git a/cfg/sim/scene_144.yaml b/cfg/sim/scene_144.yaml index ea33e4c..83b362a 100644 --- a/cfg/sim/scene_144.yaml +++ b/cfg/sim/scene_144.yaml @@ -5,40 +5,40 @@ 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] + rpy: [86.88390931201822, 0.06710339087970359, -1.936528963192964] 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] + rpy: [16.9613910190363, 6.730707920400756, -92.88567356756839] 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] + rpy: [89.24326263550095, 13.571505606310735, 164.97920757034274] 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] + rpy: [82.56187735190117, -23.491871550050377, -100.19074679870687] 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] + rpy: [-89.00180092667793, -70.94183092144803, 153.60476640230894] 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] + rpy: [-41.35208758067904, -62.38415733969969, -76.11094705230899] 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] + rpy: [2.7050520739655157, 2.004327293550045, -94.77738118776749] 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] + rpy: [-9.712795554168896, 6.660681683946238, 34.94949625760033] scale: 1.0 diff --git a/cfg/sim/scene_145.yaml b/cfg/sim/scene_145.yaml index d2ca6be..be89af4 100644 --- a/cfg/sim/scene_145.yaml +++ b/cfg/sim/scene_145.yaml @@ -5,35 +5,35 @@ 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] + rpy: [89.5732494838263, 5.950073161630008, 0.6610176231059135] 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] + rpy: [62.47144319528073, -11.057048749666082, 135.3428670787204] 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] + rpy: [104.98728621027985, 43.432304779996834, -59.274374961955935] 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] + rpy: [87.41993343942947, -6.151164328987361, 145.34920718636718] 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] + rpy: [-81.33444739815675, 20.54026987135437, 161.62946205574244] 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] + rpy: [102.52369739481806, -32.98487690676942, 129.50217739733327] 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] + rpy: [27.34775537003757, -86.6568899828495, 26.378514446437936] scale: 1.0 diff --git a/cfg/sim/scene_146.yaml b/cfg/sim/scene_146.yaml index c8a86b7..0566231 100644 --- a/cfg/sim/scene_146.yaml +++ b/cfg/sim/scene_146.yaml @@ -5,40 +5,40 @@ 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] + rpy: [90.00001448901742, 0.00044577311666628335, 6.597429664647263e-08] 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] + rpy: [92.14831749421653, -27.1656212282063, -135.9490948025204] 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] + rpy: [35.098373586709144, -19.195817919266126, -133.58251203149624] 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] + rpy: [-91.1173088178945, 5.1780232171879454, 104.7574091513786] 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] + rpy: [-3.4942675392834666, 5.160442239317658, -89.63571213638062] 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] + rpy: [70.18674868609081, -79.85582166617176, -33.479271689627865] 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] + rpy: [164.9705325881144, -4.130030018174976, -72.83948858784701] 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] + rpy: [-3.087493318194035, 3.1482752892959573, -93.95125162145187] scale: 1.0 diff --git a/cfg/sim/scene_147.yaml b/cfg/sim/scene_147.yaml index 545755d..4325e0a 100644 --- a/cfg/sim/scene_147.yaml +++ b/cfg/sim/scene_147.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/chair/chair_026 xyz: [-0.010126289911568165, -0.0013341247104108334, 0.2390231043100357] - rpy: [0.0259008550241392, 1.957758636833706, 89.89758930096077] + rpy: [89.8976490662017, 0.029399436343694414, -1.9577092436864203] 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] + rpy: [-142.9121765224793, 87.02287119635812, 162.249192769693] 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] + rpy: [7.469534763786475, 4.9508951073723955, -90.3789383505418] 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] + rpy: [-3.538593654998182, 40.03212728066435, -76.78375901619516] 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] + rpy: [-0.7803378846372517, 0.39107845957428855, -90.41208829210157] 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] + rpy: [23.443622699295975, 4.056759663284487, -75.92057064444508] 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] + rpy: [-4.775400400076693, -5.728680283849465, -93.03020986282041] scale: 1.0 diff --git a/cfg/sim/scene_148.yaml b/cfg/sim/scene_148.yaml index 2d19950..bd64060 100644 --- a/cfg/sim/scene_148.yaml +++ b/cfg/sim/scene_148.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/sofa/sofa_014 xyz: [-0.022231895476579666, 0.00562908872961998, 0.33978521823883057] - rpy: [-0.00922933546660446, 3.8378018149976056, 90.92741684896832] + rpy: [90.9253376761551, -0.07129948489705386, -3.8371515229810207] 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] + rpy: [13.209647880468573, -17.672458836365855, -88.25388476266194] 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] + rpy: [3.7711752353844648, -15.78063591396137, -89.59828725657687] 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] + rpy: [-42.904708980308854, 71.57008255649853, -49.19887128621555] 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] + rpy: [-0.4172501856122001, -10.09554942690867, -90.42529447667796] 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] + rpy: [109.55755968672271, 9.789011772798158, -89.89996930967006] 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] + rpy: [7.071430515798922, 5.2930677311491845, -89.55575262412479] scale: 1.0 diff --git a/cfg/sim/scene_149.yaml b/cfg/sim/scene_149.yaml index 10407ba..5f9f506 100644 --- a/cfg/sim/scene_149.yaml +++ b/cfg/sim/scene_149.yaml @@ -5,35 +5,35 @@ 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] + rpy: [89.9999565329476, 1.5249403916212386e-05, -4.5854417135893835e-06] 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] + rpy: [179.4151531298313, -0.1800393306279367, 88.1552137812256] 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] + rpy: [-3.2176803151910507, 4.6583303847398705, -92.49322963633843] 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] + rpy: [-3.7077063350361303, 0.8381819687213422, -89.73925074359471] 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] + rpy: [-132.48971588757834, 23.687948857694106, 123.28685162677014] 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] + rpy: [-93.5615237265347, -52.74686460735307, -99.91945646496343] 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] + rpy: [55.68948702349639, 18.64272277186229, -96.29024607770128] scale: 1.0 diff --git a/cfg/sim/scene_15.yaml b/cfg/sim/scene_15.yaml index 9d63c23..36666ae 100644 --- a/cfg/sim/scene_15.yaml +++ b/cfg/sim/scene_15.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/chair/chair_028 xyz: [-0.0068908389657735825, 0.005315959919244051, 0.22069703042507172] - rpy: [1.7886940604406145, 1.01981032172009, 89.94713459186843] + rpy: [89.94711717085535, 1.78963420316314, -1.018159228175955] 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] + rpy: [150.66163801014582, -4.743256318682531, -15.052887763933379] 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] + rpy: [-169.4780070863511, -1.1591596641244344, -83.30945372761698] 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] + rpy: [4.4188755739278704, 9.13866908064441, -89.49460894079391] 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] + rpy: [93.47647346205669, -11.421086634339618, -79.89856227065796] 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] + rpy: [-106.41680876613736, 42.10404565471628, -61.371737511935486] 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] + rpy: [149.69843053547226, 6.928019986646387, 58.82378003257157] scale: 1.0 diff --git a/cfg/sim/scene_150.yaml b/cfg/sim/scene_150.yaml index 62d2a5e..f3c4374 100644 --- a/cfg/sim/scene_150.yaml +++ b/cfg/sim/scene_150.yaml @@ -5,40 +5,40 @@ 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] + rpy: [85.94707145780974, -2.186998441364966, -2.094515046040527] 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] + rpy: [2.8609449182373243, -3.0543739399344423, -89.94466463735814] 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] + rpy: [-82.08896306020847, -32.82035761404179, -37.811730630018076] 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] + rpy: [-2.0236007456513385, -1.2484473911692096, -89.79708820678216] 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] + rpy: [172.8826429274353, -39.168938511899796, 116.53659852451194] 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] + rpy: [-61.95476989487058, 38.76533430235226, -48.52853229284337] 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] + rpy: [-2.8298860600578126e-07, 1.3206136303973125e-07, -90.0] 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] + rpy: [7.074673166822737e-09, 3.065708668581487e-08, -90.0] scale: 1.0 diff --git a/cfg/sim/scene_151.yaml b/cfg/sim/scene_151.yaml index 0b9c7f4..001d4a8 100644 --- a/cfg/sim/scene_151.yaml +++ b/cfg/sim/scene_151.yaml @@ -5,25 +5,25 @@ objects: - object_id: active_perception/omni_objects/table/table_025 xyz: [0.0005137072876095772, 0.0019848868250846863, 0.2338661551475525] - rpy: [-0.14980946631946293, -0.011931462735174224, 90.63614521717702] + rpy: [90.63614737386725, -0.1496677624148309, 0.013594005722135274] 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] + rpy: [-90.57173655986392, 11.981882323649051, 95.23223002955743] 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] + rpy: [122.14389333594183, -0.6755416627781677, -87.68631271544406] 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] + rpy: [90.98260256304876, -26.0689101755742, -78.03848810844369] 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] + rpy: [5.571710182579465, 2.222023617419502, -90.04886027475547] scale: 1.0 diff --git a/cfg/sim/scene_152.yaml b/cfg/sim/scene_152.yaml index ab2fee6..a9531cb 100644 --- a/cfg/sim/scene_152.yaml +++ b/cfg/sim/scene_152.yaml @@ -5,40 +5,40 @@ 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] + rpy: [86.9591994370276, -0.019551288109329008, -1.9507513940365515] 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] + rpy: [-2.42183094187688, -7.387779386799514, -104.92054417593663] 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] + rpy: [-49.45157675995484, 40.27144418003316, -88.80952678376732] 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] + rpy: [32.043433838996386, 32.54262048237767, -97.7201427558985] 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] + rpy: [34.73046706404733, -20.891736031782358, -139.02913406159752] 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] + rpy: [-119.04390434879993, -19.711233185736567, -117.98165869393416] 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] + rpy: [91.43596232842609, -30.77894109800475, -63.03594941332167] 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] + rpy: [113.0577899071537, 68.30735697123552, 167.87979060855753] scale: 1.0 diff --git a/cfg/sim/scene_153.yaml b/cfg/sim/scene_153.yaml index a827aff..c58dc18 100644 --- a/cfg/sim/scene_153.yaml +++ b/cfg/sim/scene_153.yaml @@ -5,30 +5,30 @@ 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] + rpy: [89.99998551098187, -3.364498919077934e-05, -1.631905356402501e-06] 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] + rpy: [90.6419283854904, -8.86102029416932, -84.75547982347847] 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] + rpy: [-150.38916748842914, -20.505710235965534, -113.45576872251839] 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] + rpy: [-67.46555230910862, 5.567558837432183, -87.76650885580139] 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] + rpy: [-9.054152174562482, -15.031896652067292, -90.01577342699568] 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] + rpy: [174.82831118347283, 39.256439702879526, -162.4983121923942] scale: 1.0 diff --git a/cfg/sim/scene_154.yaml b/cfg/sim/scene_154.yaml index e0f2b64..af5cd7c 100644 --- a/cfg/sim/scene_154.yaml +++ b/cfg/sim/scene_154.yaml @@ -5,25 +5,25 @@ objects: - object_id: active_perception/omni_objects/chair/chair_026 xyz: [-0.007875494658946991, 0.0005903143901377916, 0.25563710927963257] - rpy: [-0.028142134166678448, 1.9813921683193423, 89.92520738196606] + rpy: [89.9252520924226, -0.025556161809150515, -1.9814271956435496] 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] + rpy: [49.36539334855094, 60.910526850517876, -144.4253685829528] 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] + rpy: [12.920102527267222, 7.0928833573587955, -86.77649015759889] 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] + rpy: [2.008229284999299, -0.1011284395524291, -90.03868709966477] 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] + rpy: [-0.07305181506703232, 1.9814999781221667, -96.80898513235496] scale: 1.0 diff --git a/cfg/sim/scene_155.yaml b/cfg/sim/scene_155.yaml index b722d7f..119bed9 100644 --- a/cfg/sim/scene_155.yaml +++ b/cfg/sim/scene_155.yaml @@ -5,40 +5,40 @@ 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] + rpy: [90.00001931869, 2.0925831583417338e-05, 5.486438683640663e-06] 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] + rpy: [2.50643986386678, -8.090741813058841, -87.88011011215893] 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] + rpy: [-10.813727689430792, -24.11463048988075, -94.9583561102532] 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] + rpy: [-131.88476833435993, -19.535881717039796, -114.57025106135183] 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] + rpy: [-91.8175067811735, 4.658095165567859, -90.82666564127862] 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] + rpy: [29.893440112750447, -13.32683140310533, -85.79455010638053] 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] + rpy: [-14.782795312063767, 4.00115542185958, -88.77986670575572] 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] + rpy: [-126.47374727789662, -2.4584454943107743, -93.1330018906127] scale: 1.0 diff --git a/cfg/sim/scene_156.yaml b/cfg/sim/scene_156.yaml index ff4fde9..b666417 100644 --- a/cfg/sim/scene_156.yaml +++ b/cfg/sim/scene_156.yaml @@ -5,40 +5,40 @@ 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] + rpy: [90.6499916601081, -0.035673298139763374, -0.18529632919052763] 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] + rpy: [-89.68491432157325, -8.484975129811906, -91.38266710925649] 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] + rpy: [-68.92911021326466, -10.274465829315275, -97.88026067773527] 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] + rpy: [-72.63101978286413, 30.30069794441399, 44.29942117126505] 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] + rpy: [99.0070419985945, 24.845787030919052, -57.49069839804245] 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] + rpy: [-85.05341668263816, 1.9577686458367765, -107.45489706870607] 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] + rpy: [66.1687626577325, 12.605324791785668, -109.85751973675292] 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] + rpy: [-73.15509113878946, -75.02899497719474, -121.16609246430893] scale: 1.0 diff --git a/cfg/sim/scene_157.yaml b/cfg/sim/scene_157.yaml index 6a41738..bb9e4fc 100644 --- a/cfg/sim/scene_157.yaml +++ b/cfg/sim/scene_157.yaml @@ -5,20 +5,20 @@ objects: - object_id: active_perception/omni_objects/cabinet/cabinet_009 xyz: [0.006613031029701233, -0.009521213360130787, 0.4033784866333008] - rpy: [0.12609585752018654, -0.9603921295927454, 88.61153612319981] + rpy: [88.61172897708171, 0.10278877350262919, 0.963165189366625] 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] + rpy: [-13.972923688264808, 3.4511775603957067, -83.27928751227975] 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] + rpy: [40.49994819277472, 72.36099959721751, -117.20833690512461] 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] + rpy: [-38.23798074078794, 20.021062442580803, -86.56474594863664] scale: 1.0 diff --git a/cfg/sim/scene_158.yaml b/cfg/sim/scene_158.yaml index cbf1aaa..b01c7ac 100644 --- a/cfg/sim/scene_158.yaml +++ b/cfg/sim/scene_158.yaml @@ -5,40 +5,40 @@ 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] + rpy: [89.99999517031718, 3.268990406403721e-05, 3.454819903811136e-05] 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] + rpy: [179.95088220558472, -4.171212296117532, -102.28555951248946] 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] + rpy: [2.247879387667172, -19.451137168691126, -83.99126930539231] 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] + rpy: [9.50972586301387, -28.15951310342913, -89.5819082958877] 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] + rpy: [-1.8134935113850361, -0.19932756711485644, -89.75963092543182] 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] + rpy: [-13.176684436909476, 20.16305236437185, -90.4929263012896] 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] + rpy: [-44.872928930730076, -2.5550897599767373, -94.6203711133063] 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] + rpy: [103.84249687360509, -27.511368410237672, 156.20298356409558] scale: 1.0 diff --git a/cfg/sim/scene_159.yaml b/cfg/sim/scene_159.yaml index d40fdd6..188ac3f 100644 --- a/cfg/sim/scene_159.yaml +++ b/cfg/sim/scene_159.yaml @@ -5,40 +5,40 @@ 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] + rpy: [90.00000965934487, -6.454779235106549e-05, -1.105566303275208e-06] 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] + rpy: [7.591165880095293, -1.341483353638908, -106.12163107306439] 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] + rpy: [80.14425249605394, 85.33621441106818, -170.27883161749796] 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] + rpy: [-10.861288522834224, -6.364788046287744, -90.27071592789343] 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] + rpy: [-3.3317855387603723, 3.675655730394709, -89.536621765967] 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] + rpy: [8.26917614276237, 2.0772900733329496, -88.3824523996408] 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] + rpy: [-33.552758581069035, -15.963799204469879, -96.8241233541014] 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] + rpy: [1.3779573623557133, -13.27819123513478, -93.73560973323575] scale: 1.0 diff --git a/cfg/sim/scene_16.yaml b/cfg/sim/scene_16.yaml index 2050fda..84e0761 100644 --- a/cfg/sim/scene_16.yaml +++ b/cfg/sim/scene_16.yaml @@ -5,40 +5,40 @@ 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] + rpy: [89.91797766671512, 4.9929306136017465e-05, -0.03720073190722782] 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] + rpy: [-92.56662740996512, -46.1813177775315, -6.513482905558755] 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] + rpy: [-9.503267969485698, 48.125629220061285, 24.33745337991659] 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] + rpy: [179.4378212320356, -2.318274640988994, -71.02531771973956] 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] + rpy: [0.029254397854211106, 0.02924875003751615, -89.99982876909561] 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] + rpy: [0.19133528783047868, 5.73440116958702, -89.70908033892509] 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] + rpy: [120.9910595986671, -13.638175426223793, -39.71364423506333] 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] + rpy: [-157.06718803053798, 16.68388429408174, -58.89192397592302] scale: 1.0 diff --git a/cfg/sim/scene_160.yaml b/cfg/sim/scene_160.yaml index 445c41f..6ca63b6 100644 --- a/cfg/sim/scene_160.yaml +++ b/cfg/sim/scene_160.yaml @@ -5,40 +5,40 @@ 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] + rpy: [90.00000482967249, -7.545922163090087e-06, -7.546805848402785e-06] 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] + rpy: [99.81269378421872, -71.32824362116924, -24.21274015587595] 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] + rpy: [-7.530036906803039, 5.282805229594141, -106.74067113134633] 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] + rpy: [-90.14728544192181, -17.877881671772943, -91.67699190172337] 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] + rpy: [60.72630842371705, -53.304286810369554, -53.58033379070899] 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] + rpy: [39.89546432589993, 14.054193780521992, -96.38093299198924] 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] + rpy: [-6.841460937276849, 3.0705789634255414, -85.63878143896545] 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] + rpy: [51.677833833748004, -49.667368595204415, -61.712747457948346] scale: 1.0 diff --git a/cfg/sim/scene_161.yaml b/cfg/sim/scene_161.yaml index b184f6d..f136e64 100644 --- a/cfg/sim/scene_161.yaml +++ b/cfg/sim/scene_161.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/sofa/sofa_013 xyz: [-0.0030416434165090322, -0.0035518710501492023, 0.3673894703388214] - rpy: [0.005538325544697483, 0.51484481209908, 89.41330776326706] + rpy: [89.41333143927791, 0.010809734359254903, -0.5147611150394822] 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] + rpy: [-75.605574207873, -1.1664820932483277, -90.9279093355709] 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] + rpy: [37.01676538873029, 26.639786677664592, -80.9358602377986] 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] + rpy: [-172.24535795983158, 52.50408286809332, -22.815334673152773] 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] + rpy: [-1.772690616459019, 79.50609768000282, -71.6601005783997] 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] + rpy: [-0.3682497898135311, -1.4642268773812788, -89.98062285185195] 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] + rpy: [-170.23666513488135, 1.4564224202923226, 62.36799995889] scale: 1.0 diff --git a/cfg/sim/scene_162.yaml b/cfg/sim/scene_162.yaml index 8ebac66..6a9c3bf 100644 --- a/cfg/sim/scene_162.yaml +++ b/cfg/sim/scene_162.yaml @@ -5,35 +5,35 @@ 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] + rpy: [90.00054092342687, 4.914365147260071e-05, -0.00018279084706606302] 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] + rpy: [-82.56976991710053, -43.06451786269224, 80.35807385517316] 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] + rpy: [-5.258560052280873, 30.35901055547568, -89.59940301884052] 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] + rpy: [26.76445850915295, -0.944351281246752, -96.88814077909417] 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] + rpy: [93.0137240421919, 65.38300210176912, -89.05672745984106] 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] + rpy: [54.79574585636531, -75.51177001225838, 109.5050013720017] 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] + rpy: [-87.07094260420553, 57.341122007278, 117.86273738983097] scale: 1.0 diff --git a/cfg/sim/scene_163.yaml b/cfg/sim/scene_163.yaml index 03a689b..e312137 100644 --- a/cfg/sim/scene_163.yaml +++ b/cfg/sim/scene_163.yaml @@ -5,35 +5,35 @@ 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] + rpy: [90.00054092342596, 4.903355957474547e-05, -0.00018102054625925042] 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] + rpy: [17.729128797274555, 1.0417568547395766, -86.55665360780199] 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] + rpy: [87.95451967585805, 18.468576541001323, -93.62027652134375] 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] + rpy: [-11.060992117353337, 1.5122589662837376, -90.10968492264126] 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] + rpy: [4.245031648564269, -0.7777295493769095, -90.44649771610584] 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] + rpy: [19.083330411241466, 11.11856345179577, -92.24899884529843] 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] + rpy: [-0.39039841056996427, -13.150487061557385, -90.13552920473353] scale: 1.0 diff --git a/cfg/sim/scene_164.yaml b/cfg/sim/scene_164.yaml index 8c122f2..1062100 100644 --- a/cfg/sim/scene_164.yaml +++ b/cfg/sim/scene_164.yaml @@ -5,15 +5,15 @@ objects: - object_id: active_perception/omni_objects/chair/chair_028 xyz: [0.10982225090265274, -0.0024874620139598846, 0.21601024270057678] - rpy: [3.397781784616623, 7.066915743555858, 174.7350603676256] + rpy: [174.2871569845367, -6.710662728083429, -4.05832632919728] 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] + rpy: [1.803267117051035, -2.394812944016769, -58.35402347069883] 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] + rpy: [-4.138472526963979, -59.947161789234066, -123.43969848496735] scale: 1.0 diff --git a/cfg/sim/scene_165.yaml b/cfg/sim/scene_165.yaml index 5fde387..3161cc0 100644 --- a/cfg/sim/scene_165.yaml +++ b/cfg/sim/scene_165.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/chair/chair_029 xyz: [0.0010277023538947105, -0.013396093621850014, 0.47130998969078064] - rpy: [0.48685294697889697, -0.2507679729392742, 88.58330063786765] + rpy: [88.58326437921104, 0.48050427379070004, 0.2627282167375067] 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] + rpy: [84.282758918237, 60.95015226140716, -72.90806051391321] 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] + rpy: [36.170440316672156, 11.273174168580942, -58.07033899869683] 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] + rpy: [96.06721688551289, -87.9837725585805, 7.486345475353049] 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] + rpy: [107.63817148910768, 5.791752741272901, -76.4770613499017] 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] + rpy: [-1.134115963391532, -3.24662017671342, -89.96469376242742] 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] + rpy: [3.511003535729737, 7.405466775720374, -90.65562772808728] scale: 1.0 diff --git a/cfg/sim/scene_166.yaml b/cfg/sim/scene_166.yaml index 4eb8da4..cd76627 100644 --- a/cfg/sim/scene_166.yaml +++ b/cfg/sim/scene_166.yaml @@ -5,40 +5,40 @@ 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] + rpy: [90.00000482968592, -6.121236002505492e-05, 2.42351800278186e-05] 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] + rpy: [-5.1977329294896215, 3.110610741141966, -89.9983784261677] 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] + rpy: [-18.053914643534352, -11.063118489536715, -87.49643539731726] 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] + rpy: [-2.196421240103316, 5.932868694667929, -89.90401543848651] 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] + rpy: [-25.628884834358445, -2.621678283555466, -85.53104501630358] 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] + rpy: [-0.005713303945784252, -0.0006592189549160705, -89.90433385685229] 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] + rpy: [179.9984851619309, 0.002037763793758065, -147.26894250246667] 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] + rpy: [25.635121004470285, 11.67356059489809, -91.21330912408027] scale: 1.0 diff --git a/cfg/sim/scene_167.yaml b/cfg/sim/scene_167.yaml index c1b9676..90e71d1 100644 --- a/cfg/sim/scene_167.yaml +++ b/cfg/sim/scene_167.yaml @@ -5,25 +5,25 @@ objects: - object_id: active_perception/omni_objects/chair/chair_029 xyz: [0.0008199149742722511, -0.01092283520847559, 0.47760605812072754] - rpy: [0.3813446205119587, -0.2897016825504398, 88.94442866066338] + rpy: [88.944419430143, 0.3759430001607484, 0.29667771898204115] 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] + rpy: [96.90023231887517, 78.90491408303902, 69.80104050661566] 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] + rpy: [-10.413138102069349, -15.148651282717275, -90.51353531199554] 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] + rpy: [-98.97508539549818, -38.6029166063126, -142.41836391465003] 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] + rpy: [-25.83260304290134, 3.2841757732971337, -92.53614363580493] scale: 1.0 diff --git a/cfg/sim/scene_168.yaml b/cfg/sim/scene_168.yaml index 921ac44..73795ea 100644 --- a/cfg/sim/scene_168.yaml +++ b/cfg/sim/scene_168.yaml @@ -5,20 +5,20 @@ objects: - object_id: active_perception/omni_objects/sofa/sofa_014 xyz: [-0.015716824680566788, 0.008772600442171097, 0.31981509923934937] - rpy: [0.012117916180687083, 2.685236707074979, 91.43978081829154] + rpy: [91.4382002481011, -0.055331206285161104, -2.6846943229952736] 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] + rpy: [-47.37087878786407, -48.67207231878735, -138.01849437438227] 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] + rpy: [61.12586436077495, -7.0614842734312, -86.26487509164113] 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] + rpy: [166.22601827111438, -23.561839690297084, -7.190951746840477] scale: 1.0 diff --git a/cfg/sim/scene_169.yaml b/cfg/sim/scene_169.yaml index e4908e9..de5abbd 100644 --- a/cfg/sim/scene_169.yaml +++ b/cfg/sim/scene_169.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/table/table_025 xyz: [0.0002873651683330536, 0.0021202266216278076, 0.22824014723300934] - rpy: [-0.13530763316246008, -0.011954624710813651, 90.6361050441341] + rpy: [90.63610680044142, -0.13516657537156462, 0.013456062446069922] 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] + rpy: [103.10579099292845, -85.15480422308045, 107.46906188554331] 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] + rpy: [-0.28394406017966195, -7.464206604456666, -89.64906814366525] 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] + rpy: [-49.642763978094685, 55.90341327869398, 62.03098897084989] 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] + rpy: [7.234960994537595, 5.213442920055494, -88.59780827948391] 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] + rpy: [0.039294251287030034, -0.021458715058041734, -114.46280594667677] 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] + rpy: [2.990003816839268, 10.460341242218943, -88.90822468719219] scale: 1.0 diff --git a/cfg/sim/scene_17.yaml b/cfg/sim/scene_17.yaml index 324bcf3..5e11a51 100644 --- a/cfg/sim/scene_17.yaml +++ b/cfg/sim/scene_17.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/table/table_027 xyz: [0.0027457959949970245, -0.008983150124549866, 0.517039954662323] - rpy: [-0.023300712958368417, -0.3865606135237051, 89.13934538407142] + rpy: [89.13936486237009, -0.029104448191722615, 0.38616701935338027] 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] + rpy: [5.08172758538493, 68.96865052251016, -92.77417530222229] 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] + rpy: [4.709181126348074, 0.5637760450748823, 110.92526119774692] 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] + rpy: [-97.26462166885891, 38.99909878304652, -92.68663838503217] 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] + rpy: [-0.920858092505519, 0.6113335377878961, -89.40459577879618] 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] + rpy: [-17.621143023260505, 1.3918172697232494, -90.80371651663931] 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] + rpy: [8.816579475889345, 1.509489962220813, -74.11370573334857] scale: 1.0 diff --git a/cfg/sim/scene_170.yaml b/cfg/sim/scene_170.yaml index 5d58c19..7457718 100644 --- a/cfg/sim/scene_170.yaml +++ b/cfg/sim/scene_170.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/table/table_025 xyz: [0.00028738100081682205, 0.0021201781928539276, 0.22824016213417053] - rpy: [-0.1352967434709727, -0.01193902848950792, 90.63611954019856] + rpy: [90.6361212963013, -0.13515585609839653, 0.013440380484147143] 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] + rpy: [-7.240907840412193, 2.1814067423086687, -89.8250476781745] 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] + rpy: [2.6515672851414607, 2.2244556925432604, -90.64762815460477] 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] + rpy: [-0.9045816794026537, 0.025879558780139228, -89.89702188008987] 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] + rpy: [45.19139240808745, 42.22057599030659, 156.0276161503297] 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] + rpy: [-7.132159762623709, 5.581145788927055, -117.74324015967234] 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] + rpy: [75.3178526023165, 0.9533747003891319, -87.96975481276064] scale: 1.0 diff --git a/cfg/sim/scene_171.yaml b/cfg/sim/scene_171.yaml index 7ed63be..56fc3c8 100644 --- a/cfg/sim/scene_171.yaml +++ b/cfg/sim/scene_171.yaml @@ -5,35 +5,35 @@ 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] + rpy: [90.00004346705845, 1.9606245501182075e-05, -1.0701547504293668e-05] 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] + rpy: [-3.011373332497349, 1.1405860330718727, -90.26328597468085] 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] + rpy: [-52.52483221070046, 25.104081186832495, -118.03018750468583] 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] + rpy: [-14.665406253765218, 0.5755958829929965, -89.96576775204727] 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] + rpy: [1.8000561443361236, 6.118212691166368, 14.753885085351678] 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] + rpy: [-2.290030013660662, -0.00039329362402645114, -90.00150052762851] 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] + rpy: [0.007522477592877212, 1.652385686103444, -90.00002153688543] scale: 1.0 diff --git a/cfg/sim/scene_172.yaml b/cfg/sim/scene_172.yaml index 994c0d7..8b01c57 100644 --- a/cfg/sim/scene_172.yaml +++ b/cfg/sim/scene_172.yaml @@ -5,40 +5,40 @@ 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] + rpy: [89.91775066109922, 5.2707415564749176e-06, -0.03729602218774557] 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] + rpy: [2.433271331257909, -4.502737325907935, -91.27215498926196] 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] + rpy: [145.31225910185094, -50.61306024989852, 78.83557075124773] 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] + rpy: [-3.0191086428683684, 0.8652477373600593, -85.7131463146635] 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] + rpy: [4.308804087511756, 8.426481920599379, -88.80808941423058] 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] + rpy: [-1.1757122238214792, -0.45681249492912834, -89.98344973966702] 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] + rpy: [-141.596959006655, -2.1452433358194645, -90.39680003169337] 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] + rpy: [87.69176591928806, 80.33656601631624, 71.71655323320392] scale: 1.0 diff --git a/cfg/sim/scene_173.yaml b/cfg/sim/scene_173.yaml index f2af952..477fda8 100644 --- a/cfg/sim/scene_173.yaml +++ b/cfg/sim/scene_173.yaml @@ -5,40 +5,40 @@ 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] + rpy: [90.65001620966417, 0.003427873870338435, -0.18576105280091765] 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] + rpy: [-3.6574821699959346, 0.9638701433596357, -92.04163748061353] 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] + rpy: [10.866270213951125, 87.28224215986634, -130.42191596600347] 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] + rpy: [-5.183593158565985, -6.664389014040921, -102.22687631069792] 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] + rpy: [-105.43399362844129, -15.194729667338379, -94.95333512822874] 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] + rpy: [0.636473080391938, 0.18406014938315934, -90.0008194824985] 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] + rpy: [-98.25248544597743, 28.63325610072987, 5.149946269461962] 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] + rpy: [11.460153491297197, 12.124100435724783, -78.51879588648455] scale: 1.0 diff --git a/cfg/sim/scene_174.yaml b/cfg/sim/scene_174.yaml index 11245be..bc307f2 100644 --- a/cfg/sim/scene_174.yaml +++ b/cfg/sim/scene_174.yaml @@ -5,40 +5,40 @@ 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] + rpy: [90.00002897804622, -1.8158422151300575e-05, 6.109725152735613e-05] 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] + rpy: [-3.201296456733112, 1.7491890394040877, 149.33007607941047] 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] + rpy: [165.14453769227467, -84.97187069437928, 144.84707126956232] 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] + rpy: [-33.45608213910701, 22.53856748303896, -118.37233762750927] 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] + rpy: [91.24897283628302, -24.514182641373456, 94.90132291905799] 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] + rpy: [42.06346051255791, -2.1031031071643898, -81.23272754752598] 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] + rpy: [-92.28582885150854, -12.256834127349462, -94.05304153765266] 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] + rpy: [-125.22731430051984, -13.933053284996461, -106.63840768987119] scale: 1.0 diff --git a/cfg/sim/scene_175.yaml b/cfg/sim/scene_175.yaml index fe93009..a56fc49 100644 --- a/cfg/sim/scene_175.yaml +++ b/cfg/sim/scene_175.yaml @@ -5,35 +5,35 @@ 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] + rpy: [90.00004346733157, -0.001461551471797132, 2.155485654921299e-05] 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] + rpy: [9.953747490915179, -22.70925413215985, -94.35217293876404] 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] + rpy: [-89.99949002550642, -88.74375279637482, -179.9995754080008] 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] + rpy: [78.15539964144426, -64.69751660486496, -72.67295515902266] 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] + rpy: [-97.34800098942034, -74.47912785794641, 84.76341171327799] 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] + rpy: [-8.510735664599302, -2.2579195323157504, -87.37417113909154] 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] + rpy: [-114.05450133257249, 20.219031264216614, -25.81039373022322] scale: 1.0 diff --git a/cfg/sim/scene_176.yaml b/cfg/sim/scene_176.yaml index 8b92ff1..f6bcb03 100644 --- a/cfg/sim/scene_176.yaml +++ b/cfg/sim/scene_176.yaml @@ -5,40 +5,40 @@ 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] + rpy: [89.91090791140347, -0.010828672389580728, 0.009529810942561176] 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] + rpy: [-136.52261749641988, 22.820464334903942, -49.276104889178924] 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] + rpy: [4.016984773847516, -3.2600039905986025, -89.9283475307527] 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] + rpy: [-34.39078214689836, 1.8541139206983341, -89.21299744500786] 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] + rpy: [-1.6814866980958967, 1.6431299182531134, -90.07225800597524] 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] + rpy: [5.404244214003502, 2.37298395138527, -88.07718501080682] 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] + rpy: [16.471259967141094, 12.538341004344753, -89.77049384421646] 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] + rpy: [12.415820294805158, -16.196813511564972, -86.24473603178288] scale: 1.0 diff --git a/cfg/sim/scene_177.yaml b/cfg/sim/scene_177.yaml index 3d1d885..063d5a3 100644 --- a/cfg/sim/scene_177.yaml +++ b/cfg/sim/scene_177.yaml @@ -5,40 +5,40 @@ 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] + rpy: [86.87260793784068, 0.09837735384649285, -1.9480028191686196] 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] + rpy: [5.949110305776419, -0.41820755143106847, -91.61866925807597] 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] + rpy: [-0.40261082585401486, -2.7248296266595684, -144.8816495468273] 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] + rpy: [-51.957209238803735, -17.880643435888306, -77.96875554271273] 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] + rpy: [-28.391220610462565, -10.543275423936647, -62.54255409201961] 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] + rpy: [-116.85051001440723, -32.161284770640684, -99.43713748796755] 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] + rpy: [65.06037346584932, -15.22420893935603, 62.69239807245401] 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] + rpy: [69.49730678704555, -40.89990072171502, 8.474426079401633] scale: 1.0 diff --git a/cfg/sim/scene_178.yaml b/cfg/sim/scene_178.yaml index c2c9e55..ae2e412 100644 --- a/cfg/sim/scene_178.yaml +++ b/cfg/sim/scene_178.yaml @@ -5,40 +5,40 @@ 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] + rpy: [90.00000482972013, -0.00011775304917355159, 4.591167080960361e-05] 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] + rpy: [-46.77183451007282, -10.579415067236983, -89.51546580494805] 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] + rpy: [-10.616795425875406, 0.5392253827464554, -89.88659323507719] 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] + rpy: [31.620405004125423, 9.895633894012501, -31.057511985044762] 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] + rpy: [-0.010209341869539366, -0.001236212747228126, -89.73507302059492] 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] + rpy: [-16.308119482693392, 7.836994232131377, -100.3814379121166] 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] + rpy: [139.18308938875165, -81.296397066256, 130.8425262658713] 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] + rpy: [116.29497156502063, -38.01003242766817, -65.29140119657413] scale: 1.0 diff --git a/cfg/sim/scene_179.yaml b/cfg/sim/scene_179.yaml index 6e002cd..85f214b 100644 --- a/cfg/sim/scene_179.yaml +++ b/cfg/sim/scene_179.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/chair/chair_028 xyz: [-0.0035140831023454666, -0.00039090216159820557, 0.29748719930648804] - rpy: [-0.09994535103828141, 0.8307188614139377, 89.7039569079076] + rpy: [89.70398761142783, -0.09565192321578898, -0.8312241282725891] 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] + rpy: [-141.45819431055043, 6.943795586706128, -134.2121161348976] 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] + rpy: [4.170776728674197, 9.117849479861466, -90.35165140258185] 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] + rpy: [-11.729882127281167, -0.2979551574082078, -101.22439561810464] 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] + rpy: [0.5423165854814568, 8.002774529995458, -90.28603059422838] 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] + rpy: [-92.09669376060339, 10.450826724309493, -116.93672647123468] 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] + rpy: [44.786140055235364, 43.472658325660674, -60.01722757640219] 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] + rpy: [-36.58356263598647, -2.945793548035602, -88.83834538475828] scale: 1.0 diff --git a/cfg/sim/scene_18.yaml b/cfg/sim/scene_18.yaml index 42d92fc..c067ea3 100644 --- a/cfg/sim/scene_18.yaml +++ b/cfg/sim/scene_18.yaml @@ -5,30 +5,30 @@ objects: - object_id: active_perception/omni_objects/table/table_027 xyz: [-0.0006448607891798019, 0.001766100525856018, 0.5201078057289124] - rpy: [-0.15156778854851508, -0.12079690350746845, 90.13117452191096] + rpy: [90.13117468767811, -0.1512908360475269, 0.12114359009531557] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_040 xyz: [-0.08927050232887268, -0.1140391007065773, 0.851281464099884] - rpy: [-107.27428525613796, -81.01425187012624, 157.47745505888182] + rpy: [100.78368463006967, -39.54624384955144, 93.44822641628292] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_115 xyz: [-0.14044073224067688, 0.029028883203864098, 0.8513619303703308] - rpy: [-78.97120558875511, 49.30008560032412, 0.3206772464266765] + rpy: [48.81217423815063, 8.021071295087687, -82.76263587506713] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_041 xyz: [-0.1704012006521225, -0.07082629948854446, 0.8597419261932373] - rpy: [156.666455741744, 80.05751657322321, -102.09442783263339] + rpy: [92.11499973049801, -11.40795100543299, -99.30754215470145] scale: 1.0 - object_id: active_perception/omni_objects/lemon/lemon_030 xyz: [0.1232769563794136, -0.2912765443325043, 0.876267671585083] - rpy: [-90.69629087591525, 15.641370437678678, -1.2769057438064422] + rpy: [15.655216194172361, 1.0890919799149812, -90.67062588624142] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_126 xyz: [-0.021710237488150597, -0.27190449833869934, 0.8526045680046082] - rpy: [24.527143782306766, -83.92829419143148, -118.59965663822351] + rpy: [-92.90910252404194, 3.932198123801487, -84.46489371116742] scale: 1.0 diff --git a/cfg/sim/scene_180.yaml b/cfg/sim/scene_180.yaml index e7c2554..1f0ed7d 100644 --- a/cfg/sim/scene_180.yaml +++ b/cfg/sim/scene_180.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_001 xyz: [5.890615284442902e-07, -1.0244548320770264e-06, 0.016625702381134033] - rpy: [-4.760590878566495e-05, 1.7237310106666284e-06, 90.00001448901693] + rpy: [90.00001448901695, -4.760590921098662e-05, -1.723718962725495e-06] scale: 1.0 - object_id: active_perception/omni_objects/ginger/ginger_039 xyz: [-0.16588082909584045, -0.23579242825508118, 0.485392302274704] - rpy: [83.5095078191622, -2.6129625479719114, 177.60747994075814] + rpy: [-177.67414736741168, 2.6724688426943493, -83.50919533522023] scale: 1.0 - object_id: active_perception/omni_objects/pear/pear_036 xyz: [0.4438827633857727, 0.18905067443847656, 0.8643113970756531] - rpy: [-90.1579435995378, 9.172782724481564, 0.8579160144926743] + rpy: [9.170413558294996, -0.883090950784585, -90.15594235009691] scale: 1.0 - object_id: active_perception/omni_objects/lipstick/lipstick_031 xyz: [0.19118556380271912, -0.08737163245677948, 0.8337404131889343] - rpy: [73.85686315234699, -25.523308311751613, -179.8398678163855] + rpy: [-155.32077887819247, 6.725652812322008, -75.36604320149983] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_052 xyz: [-0.2009573131799698, 0.204793319106102, 0.8590240478515625] - rpy: [-72.11795250897606, 28.376970251372054, 9.42842086953453] + rpy: [29.771126190092854, -0.683961950005803, -74.3249356385931] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_125 xyz: [-0.6004638075828552, 0.027324944734573364, 0.8285363912582397] - rpy: [-90.03184685842339, 0.0008289096568868649, 0.00040083999613449314] + rpy: [0.000828686728895853, -0.00040130066916481367, -90.03184685842083] scale: 1.0 - object_id: active_perception/omni_objects/ginger/ginger_036 xyz: [0.3340013921260834, 0.1816944181919098, 0.8287286162376404] - rpy: [-88.42268486256425, -0.008973843174304835, -0.005595421312692903] + rpy: [-0.009124461721908, 0.005346288362439526, -88.4226848750471] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_057 xyz: [0.09937018901109695, 0.0767715647816658, 0.8555854558944702] - rpy: [93.60154372879344, -59.617766806775975, 177.25474218244682] + rpy: [-120.34436128271871, -0.36255130903443644, -91.82068291154279] scale: 1.0 diff --git a/cfg/sim/scene_181.yaml b/cfg/sim/scene_181.yaml index da0c1bd..81fabde 100644 --- a/cfg/sim/scene_181.yaml +++ b/cfg/sim/scene_181.yaml @@ -5,30 +5,30 @@ objects: - object_id: active_perception/omni_objects/table/table_025 xyz: [0.0002873716875910759, 0.0021202005445957184, 0.22824016213417053] - rpy: [-0.13529860946083958, -0.011945689299803204, 90.63610988905364] + rpy: [90.6361116451613, -0.1351576502890111, 0.01344703883392716] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_055 xyz: [0.054321855306625366, 0.134438157081604, 0.5262848734855652] - rpy: [-90.73319057674787, 6.970024732019511, -0.07784557570378148] + rpy: [6.970448442392423, -0.011131031508832365, -90.72777185379194] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_037 xyz: [0.08181823790073395, 0.06563004106283188, 0.510945200920105] - rpy: [-96.51564690027014, 11.78552027488903, 21.778770837242305] + rpy: [9.14531365145226, -22.96383543872024, -96.92922546339317] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_054 xyz: [-0.13919207453727722, 0.14112351834774017, 0.5291820764541626] - rpy: [-90.56363606623157, 4.805765889844842, -18.909170223437865] + rpy: [4.997874230085789, 18.861007872621343, -90.5935245071876] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_040 xyz: [-0.015571066178381443, -0.07294037193059921, 0.5169457197189331] - rpy: [-88.82507570556535, 19.428252842825323, -11.036490161355987] + rpy: [19.20808211454391, 11.425183989974272, -88.86958301633021] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_030 xyz: [-0.09797776490449905, 0.17970307171344757, 0.5063158869743347] - rpy: [-147.503431304734, -83.7351275518135, 51.24695154972831] + rpy: [-86.06101541544933, 6.074779930251554, -95.31079964603494] scale: 1.0 diff --git a/cfg/sim/scene_182.yaml b/cfg/sim/scene_182.yaml index 740f041..6bd7acf 100644 --- a/cfg/sim/scene_182.yaml +++ b/cfg/sim/scene_182.yaml @@ -5,30 +5,30 @@ objects: - object_id: active_perception/omni_objects/chair/chair_026 xyz: [-0.010007977485656738, -0.0005495692603290081, 0.23304176330566406] - rpy: [0.10411447308654097, 1.9458887320265992, 89.88378148564072] + rpy: [89.88384829759515, 0.1080605301102307, -1.9456736683481182] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_105 xyz: [0.07614580541849136, -0.03768926113843918, 0.2711566090583801] - rpy: [-65.18433033999618, 1.2111707833633754, 3.796400214533051] + rpy: [2.6935551886866573, -2.9374412090534867, -65.15539795368868] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_129 xyz: [0.03366722911596298, -0.11323715001344681, 0.2943161427974701] - rpy: [-105.9280967757297, -43.69660924847247, -171.90464506899517] + rpy: [135.78957037079672, -2.9970213662662837, 101.4602140219307] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_114 xyz: [0.11452307552099228, 0.048373471945524216, 0.27155953645706177] - rpy: [-66.46608790771748, -9.960425943943509, -9.658704011047924] + rpy: [-12.952977351987839, 4.918466225662889, -66.7510548548661] scale: 1.0 - object_id: active_perception/omni_objects/ginger/ginger_035 xyz: [0.09500385820865631, 0.00869338121265173, 0.28775548934936523] - rpy: [-78.64093929140365, -2.2142627914432325, 0.7153678296474681] + rpy: [-2.0301123655501936, -1.1373835088945385, -78.64726701420344] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_060 xyz: [0.07795892655849457, -0.021897079423069954, 0.30186259746551514] - rpy: [-108.87327979653537, 38.247203858530426, -24.963751013636532] + rpy: [43.156284184138975, 12.580594728881675, -105.08730059214706] scale: 1.0 diff --git a/cfg/sim/scene_183.yaml b/cfg/sim/scene_183.yaml index 5fc17f1..e0d9b19 100644 --- a/cfg/sim/scene_183.yaml +++ b/cfg/sim/scene_183.yaml @@ -5,30 +5,30 @@ objects: - object_id: active_perception/omni_objects/table/table_025 xyz: [0.00028306618332862854, 0.0021384842693805695, 0.22824010252952576] - rpy: [-0.13715711426041233, -0.011970559872012844, 90.63607627854215] + rpy: [90.63607808349686, -0.13701577235248444, 0.013492460704023037] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_051 xyz: [-0.0546206571161747, 0.19466668367385864, 0.530249834060669] - rpy: [-123.66050550376691, -5.835906701466552, -3.0523616085018452] + rpy: [-3.1688107970053334, 5.773657988185953, -123.65629172510826] scale: 1.0 - object_id: active_perception/omni_objects/tomato/tomato_029 xyz: [0.11848796904087067, 0.14818528294563293, 0.5348812937736511] - rpy: [-92.19519490531766, -23.6939983705617, 24.664043788653203] + rpy: [-24.59500155833704, -23.76600355157143, -92.19640856999301] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_048 xyz: [-0.01351490430533886, 0.23169167339801788, 0.5195426344871521] - rpy: [-93.21137732697603, 21.44444916766004, -14.918530756874084] + rpy: [22.2057388713192, 13.724326937272334, -93.07677990430322] scale: 1.0 - object_id: active_perception/omni_objects/cup/cup_033 xyz: [-0.12320046126842499, 0.04663434252142906, 0.5416455268859863] - rpy: [111.66893527059611, -57.772667171195565, 167.63553010822986] + rpy: [-121.5920946606374, -6.091364171987809, -101.42166034995394] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_045 xyz: [-0.0910804271697998, -0.03597024828195572, 0.5076029300689697] - rpy: [66.5934059647759, 75.05174527369624, 94.50213235003272] + rpy: [92.48994473512336, 62.220723564514266, -77.29909257415719] scale: 1.0 diff --git a/cfg/sim/scene_184.yaml b/cfg/sim/scene_184.yaml index 6f17fa0..5a7f7c5 100644 --- a/cfg/sim/scene_184.yaml +++ b/cfg/sim/scene_184.yaml @@ -5,25 +5,25 @@ objects: - object_id: active_perception/omni_objects/chair/chair_026 xyz: [-0.0120783019810915, -0.0014937175437808037, 0.21103620529174805] - rpy: [0.2621437246110062, 1.9403291988260754, 89.87728430544016] + rpy: [89.87735334220366, 0.2662981098930511, -1.9397636124908504] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_129 xyz: [0.033869873732328415, 0.04320893809199333, 0.24441103637218475] - rpy: [-51.738656115073375, 2.892768397395704, 0.15818498941784478] + rpy: [2.370045818424661, 1.6666065903415457, -51.777127236647516] scale: 1.0 - object_id: active_perception/omni_objects/pear/pear_035 xyz: [0.1233912855386734, 0.10845216363668442, 0.2531820237636566] - rpy: [36.962747363820874, 1.52175411928544, 87.96847241538775] + rpy: [87.45719510727933, 36.989590748827574, 0.007859549123943052] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_037 xyz: [0.10202766954898834, -0.042230840772390366, 0.2478574961423874] - rpy: [66.47823451720082, 79.66137374963044, 108.52853144660017] + rpy: [94.90127391427423, 48.126146003032964, -83.84011249320257] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_054 xyz: [0.06915216892957687, -0.0997173860669136, 0.24639447033405304] - rpy: [119.31128115816075, -2.8526399023003393, -177.49470473810212] + rpy: [-178.73950395354365, -3.5807946056889723, -119.33426794070667] scale: 1.0 diff --git a/cfg/sim/scene_185.yaml b/cfg/sim/scene_185.yaml index a6f8d13..fa7df3d 100644 --- a/cfg/sim/scene_185.yaml +++ b/cfg/sim/scene_185.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_007 xyz: [-3.795139491558075e-08, 9.220093488693237e-08, -0.06014379858970642] - rpy: [3.95358876450925e-06, 1.187726896878857e-05, 90.00001448901929] + rpy: [90.00001448901929, 3.95358574879398e-06, -1.1877269922954974e-05] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_127 xyz: [-0.39818906784057617, -0.1258876621723175, 0.07055702805519104] - rpy: [-87.98956268010137, 8.164974789431229, 4.616702969699007] + rpy: [8.320622762397083, -4.328440881955065, -88.0042556793287] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_049 xyz: [-0.0341462567448616, -0.1343383640050888, 0.07194019854068756] - rpy: [-90.45563434810167, 5.543836700086651, -1.458769031488919] + rpy: [5.5552109897102495, 1.414706184300774, -90.45364138765419] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_049 xyz: [-0.5757976770401001, 0.07361306995153427, 0.6884810328483582] - rpy: [-98.66340362787874, -0.9394873060095367, -0.05129696873245276] + rpy: [-0.921044066271411, 0.19222006147748896, -98.6622791716551] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_067 xyz: [0.09811839461326599, -0.0891139805316925, 0.7140707969665527] - rpy: [-120.31577814502805, 52.55503195500862, -102.84393595277723] + rpy: [111.69140468168393, 68.55091629554553, -147.06238545653594] scale: 1.0 - object_id: active_perception/omni_objects/cup/cup_037 xyz: [-0.4652298390865326, -0.06840834766626358, 0.097776398062706] - rpy: [-89.45423455919011, 5.513042252581339, 6.867383444367923] + rpy: [5.578211133668824, -6.814641146220621, -89.45289385083385] scale: 1.0 - object_id: active_perception/omni_objects/bowl/bowl_015 xyz: [-0.05334540456533432, 0.1693553924560547, 0.09068889170885086] - rpy: [-90.02913592921607, -0.0018241268170468073, 2.7262254927693466] + rpy: [-0.00321150814266677, -2.7262242124140705, -90.0291689423282] scale: 1.0 diff --git a/cfg/sim/scene_186.yaml b/cfg/sim/scene_186.yaml index 41afba5..2c02de3 100644 --- a/cfg/sim/scene_186.yaml +++ b/cfg/sim/scene_186.yaml @@ -5,30 +5,30 @@ objects: - object_id: active_perception/omni_objects/chair/chair_027 xyz: [0.010518450289964676, 0.020725751295685768, 0.4148634076118469] - rpy: [-0.246805632608312, -1.5976627378504753, 92.99975310010751] + rpy: [92.99859801581725, -0.16287018498341643, 1.6083854410189207] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_038 xyz: [0.02299380674958229, -0.12437674403190613, 0.47560665011405945] - rpy: [145.73197854232373, -75.52298848025205, 161.60797073188073] + rpy: [-106.95536285243945, -35.56618632649026, -104.71298122530612] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_040 xyz: [0.08024895191192627, 0.15819312632083893, 0.45979124307632446] - rpy: [46.56419569874428, 72.71843246703689, 79.9411413714814] + rpy: [84.66737631820857, 56.06261564437876, -68.54040473484042] scale: 1.0 - object_id: active_perception/omni_objects/lipstick/lipstick_030 xyz: [0.1010628417134285, 0.11205171793699265, 0.4612550139427185] - rpy: [-82.44654859434618, -34.98804454951352, -166.89504782913687] + rpy: [146.71625491592022, 17.34830776253904, 83.5217148359253] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_044 xyz: [0.08991983532905579, 0.010868328623473644, 0.5064496994018555] - rpy: [-86.58264720510364, 1.6108657182328958, 1.7030681506371572] + rpy: [1.7095054029764791, -1.6040324292953339, -86.58265865601916] scale: 1.0 - object_id: active_perception/omni_objects/bowl/bowl_015 xyz: [0.045877762138843536, 0.02568945661187172, 0.5692135691642761] - rpy: [-75.71163134056975, -5.88624153376538, 3.348680398686286] + rpy: [-4.880679075179346, -4.696208896315149, -75.73967253532872] scale: 1.0 diff --git a/cfg/sim/scene_187.yaml b/cfg/sim/scene_187.yaml index a96642e..6cf4927 100644 --- a/cfg/sim/scene_187.yaml +++ b/cfg/sim/scene_187.yaml @@ -5,25 +5,25 @@ objects: - object_id: active_perception/omni_objects/chair/chair_027 xyz: [0.008162887766957283, 0.018813740462064743, 0.3371417820453644] - rpy: [-0.5441927585014629, -1.1553156976808423, 92.55237695680907] + rpy: [92.55195197381623, -0.4922072991368359, 1.1783998121949502] scale: 1.0 - object_id: active_perception/omni_objects/waffle/waffle_040 xyz: [0.17193461954593658, 0.11782585084438324, 0.38776764273643494] - rpy: [28.676799327607302, 67.57591074368557, 134.40552183477683] + rpy: [105.89775768931447, -12.983071305608979, -69.91283803016387] scale: 1.0 - object_id: active_perception/omni_objects/lemon/lemon_031 xyz: [0.0420956127345562, 0.014342186972498894, 0.4140152037143707] - rpy: [-52.785522536601825, 60.515732696961024, 33.76746572952082] + rpy: [65.84803382828443, -0.2857908314932009, -72.6818624043895] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_037 xyz: [0.12302806973457336, 0.11676988005638123, 0.3848040997982025] - rpy: [53.66469076400817, 77.51911098508889, 141.7342195651073] + rpy: [99.77913965986778, 2.5608511654079265, -82.63570279956188] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_039 xyz: [0.004537677392363548, -0.07754446566104889, 0.4074309766292572] - rpy: [-80.93050877450763, -80.16692855410925, 16.800198126938678] + rpy: [-79.543955058248, -25.7286105331244, -88.28759099025267] scale: 1.0 diff --git a/cfg/sim/scene_188.yaml b/cfg/sim/scene_188.yaml index f107ade..c10fa11 100644 --- a/cfg/sim/scene_188.yaml +++ b/cfg/sim/scene_188.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/cabinet/cabinet_009 xyz: [0.006832428276538849, -0.009764480404555798, 0.375384658575058] - rpy: [0.018930259437201804, -0.9524647564731271, 88.61961980301977] + rpy: [88.61981056313527, -0.004018908458357635, 0.9526443638097204] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_125 xyz: [0.02790268324315548, 0.10629594326019287, 0.8571540713310242] - rpy: [-84.08652749477162, 6.295598192286999, 8.542591389955717] + rpy: [7.1422669726583194, -7.850096263547522, -84.0665147007904] scale: 1.0 - object_id: active_perception/omni_objects/tomato/tomato_029 xyz: [0.1329861879348755, -0.05133889615535736, 0.8577721118927002] - rpy: [-153.01250008978568, 66.55677111723233, 168.28589988864678] + rpy: [-123.4985004034852, 45.103938927842904, 120.15066822370322] scale: 1.0 - object_id: active_perception/omni_objects/pear/pear_038 xyz: [-0.012927689589560032, -0.13825605809688568, 0.8458346724510193] - rpy: [-90.12372242260264, 2.7926141687941586, -1.5165263593284097] + rpy: [2.795879263629149, 1.510494953755555, -90.1236184486868] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_040 xyz: [0.1365901380777359, 0.03259725868701935, 0.8363236784934998] - rpy: [11.88515219607691, 85.54413278846508, 162.2619981247309] + rpy: [98.52425859316854, -60.05191922568439, -81.24031642779057] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_056 xyz: [-0.013908235356211662, -0.08208196610212326, 0.854557991027832] - rpy: [-96.04554838037654, -18.73181925629418, -0.6914435238186561] + rpy: [-18.565777331741632, 2.6262204689158475, -95.73026688098426] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_050 xyz: [-0.020650099962949753, 0.0535469688475132, 0.8604288101196289] - rpy: [-85.75251842000941, 10.772286136955573, -30.295856782272917] + rpy: [8.288960054758519, 30.999611039575765, -85.13068673480642] scale: 1.0 diff --git a/cfg/sim/scene_189.yaml b/cfg/sim/scene_189.yaml index 7514aff..17187d5 100644 --- a/cfg/sim/scene_189.yaml +++ b/cfg/sim/scene_189.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/table/table_026 xyz: [-7.778708823025227e-05, -0.00010972702875733376, 0.3778647780418396] - rpy: [0.04546117721873226, 3.880186933232386e-05, 89.99994205931081] + rpy: [89.9999420592926, 0.04546117725794906, -3.875589642451386e-05] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_116 xyz: [0.09517522156238556, -0.05612729862332344, -0.006073396652936935] - rpy: [58.126145217545115, -9.05143634974995, -21.12215460440692] + rpy: [-4.077207434194822, -22.55141805026857, 55.62194410204001] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_127 xyz: [0.00142325006891042, 0.18741334974765778, 0.7038359045982361] - rpy: [-90.07149121365346, -3.441245281323104, 0.7700714102684325] + rpy: [-3.442201794964926, -0.76577955701449, -90.07136868042707] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_064 xyz: [0.13390634953975677, -0.28269821405410767, -0.028894804418087006] - rpy: [-95.37835824378517, 10.032715261617808, 89.04150976359377] + rpy: [-79.71963897904693, -84.70408865742249, -179.7966836456028] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_031 xyz: [-0.05894322693347931, -0.21768704056739807, 0.6953718662261963] - rpy: [-89.47230037218894, 15.882615114923086, -1.5078642407108607] + rpy: [15.868614196709414, 1.6522173517028482, -89.49223505709395] scale: 1.0 - object_id: active_perception/omni_objects/cup/cup_033 xyz: [-0.12130070477724075, 0.09611567109823227, 0.7342731356620789] - rpy: [-89.37275840517046, 5.091807926516897, 7.180634187386449] + rpy: [5.170205050778961, -7.124537328562154, -89.3703721415849] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_037 xyz: [-0.13400129973888397, 0.04717450588941574, -0.015184585005044937] - rpy: [108.70077879743671, 78.03166938773583, 123.9558604908704] + rpy: [114.71830705938389, 73.9190009836347, -103.88855681678078] scale: 1.0 - object_id: active_perception/omni_objects/walnut/walnut_038 xyz: [-0.21467328071594238, 0.09881537407636642, 0.7011182308197021] - rpy: [-105.22258343017063, -86.0379701661958, -170.55407198000196] + rpy: [93.92795674030802, -5.741008441720946, 91.04477737158078] scale: 1.0 diff --git a/cfg/sim/scene_19.yaml b/cfg/sim/scene_19.yaml index 5df98b2..ce812d2 100644 --- a/cfg/sim/scene_19.yaml +++ b/cfg/sim/scene_19.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/flower/flower_pot_023 xyz: [-0.01466775219887495, 0.0028509534895420074, 0.1349305957555771] - rpy: [-0.5598209690505895, 45.22449263031873, 84.14555702016206] + rpy: [85.8720253862374, 3.59394262289364, -45.11508696788564] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_038 xyz: [0.0358615443110466, -0.013036624528467655, -466.6136169433594] - rpy: [-90.04257049166756, 0.2993721288844387, 1.3815596568916568] + rpy: [0.29834536902289216, -1.381781706524025, -90.04258229315745] scale: 1.0 - object_id: active_perception/omni_objects/garlic/garlic_033 xyz: [-0.005400908179581165, -0.0054572271183133125, -457.5174865722656] - rpy: [-90.00000482967297, 9.055636486295811e-07, -9.055637177923598e-07] + rpy: [9.055637122406747e-07, 9.055636359073624e-07, -90.000004829673] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_045 xyz: [-0.009005298838019371, 0.007352176122367382, 0.10615232586860657] - rpy: [-110.94213610684946, -9.729690678265284, -162.98055072009416] + rpy: [164.82930132630062, 12.450840457968072, 111.14740136759578] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_028 xyz: [-0.004450093023478985, 0.010649377480149269, -439.3685302734375] - rpy: [-90.62951054227072, 1.2411304536374144, 0.013384183708684935] + rpy: [1.2409085513617761, -0.02701837520857351, -90.62936291816516] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_047 xyz: [0.006726284511387348, 0.0021568643860518932, -429.35406494140625] - rpy: [-89.99999517032738, -4.452354303609412e-06, -1.735663760629794e-06] + rpy: [-4.452354456276037e-06, 1.7356633958873253e-06, -89.99999517032741] scale: 1.0 - object_id: active_perception/omni_objects/walnut/walnut_038 xyz: [-0.0008271603146567941, -0.0027954753022640944, -420.2200012207031] - rpy: [-90.0, -7.970845973310922e-07, 2.9713804480688954e-07] + rpy: [-7.970845846088735e-07, -2.9713805411717653e-07, -90.0] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_039 xyz: [-0.017395567148923874, -0.015877624973654747, 0.10285010188817978] - rpy: [-110.86591610842596, -42.779771991480764, -43.886925138806944] + rpy: [-21.696751898761704, 55.29769556481363, -117.3353382650762] scale: 1.0 diff --git a/cfg/sim/scene_190.yaml b/cfg/sim/scene_190.yaml index f5c53eb..befe97a 100644 --- a/cfg/sim/scene_190.yaml +++ b/cfg/sim/scene_190.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_003 xyz: [-1.7008278518915176e-07, 2.2351741790771484e-08, 0.00037091970443725586] - rpy: [1.6682474968673574e-05, -2.2138105827033333e-07, 90.00000965934548] + rpy: [90.00000965934548, 1.6682474988370387e-05, 2.213782339377762e-07] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_130 xyz: [0.4531978368759155, -0.09528851509094238, 0.20656220614910126] - rpy: [-89.01916659397718, 7.088556423132427, -0.20988236936297913] + rpy: [7.083963001493831, 0.33088432023271214, -89.02664798279817] scale: 1.0 - object_id: active_perception/omni_objects/pear/pear_038 xyz: [-0.3258872926235199, -0.006275034975260496, 0.20645155012607574] - rpy: [-89.78657841856943, 5.535242828468354, -3.377300154259098] + rpy: [5.522668429718715, 3.3978630879367038, -89.78719949956347] scale: 1.0 - object_id: active_perception/omni_objects/corn/corn_031 xyz: [0.3514634370803833, 0.1556096076965332, 1.2189781665802002] - rpy: [-92.40136838717837, -24.794214421901234, -2.5600763868943064] + rpy: [-24.677506570011225, 3.5650163104295864, -92.18412612010384] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_038 xyz: [0.2612886130809784, -0.18371275067329407, 1.2018723487854004] - rpy: [-10.064706080639622, 85.61391526812992, 133.44754719678656] + rpy: [95.05125593739123, -53.32161511138928, -82.75788311304342] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_063 xyz: [0.27997034788131714, -0.042811281979084015, 1.2173776626586914] - rpy: [-68.67841761875496, 66.52073069297235, 28.47101812532952] + rpy: [69.25005605689435, -8.680327867483786, -81.57330591684102] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_067 xyz: [0.4102552533149719, 0.1981661468744278, 1.2267792224884033] - rpy: [-89.25428346866644, -5.315420208442645, -16.15571335302038] + rpy: [-5.529987541652672, 16.08523993982383, -89.22723534695228] scale: 1.0 - object_id: active_perception/omni_objects/cup/cup_039 xyz: [-0.2596645951271057, -0.10897432267665863, 1.2078993320465088] - rpy: [-91.53876997084467, -3.1355513153685983, 8.058999636242032] + rpy: [-3.351900797702937, -7.971925331293717, -91.5514624832503] scale: 1.0 diff --git a/cfg/sim/scene_191.yaml b/cfg/sim/scene_191.yaml index 6e94ff4..4e25319 100644 --- a/cfg/sim/scene_191.yaml +++ b/cfg/sim/scene_191.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/flower/flower_pot_021 xyz: [0.002661759965121746, -0.0012792060151696205, 0.0517280213534832] - rpy: [0.026254700725686655, -2.571410883681352, 88.83931086615976] + rpy: [88.84047962870427, -0.02582088414545919, 2.571415273501917] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_040 xyz: [0.004204148892313242, 0.013186171650886536, 0.014079796150326729] - rpy: [-12.06165413607217, 24.670994549490747, 39.42357275275801] + rpy: [44.44143936748872, 10.5221023643691, -25.330242358623156] scale: 1.0 - object_id: active_perception/omni_objects/walnut/walnut_037 xyz: [0.00618327921256423, -0.010048002935945988, 0.020107539370656013] - rpy: [-93.53434822210974, -28.707154061065633, -27.55333107819103] + rpy: [-27.018531271099558, 29.205720829917233, -93.55142821834826] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_037 xyz: [-0.025559445843100548, -0.006530500017106533, 0.03840040788054466] - rpy: [-124.83619719679946, -20.4467959157458, -32.083880616861755] + rpy: [4.356183792376656, 37.23212259806928, -132.2413078860262] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_039 xyz: [0.02542949467897415, 0.018256813287734985, 0.014595050364732742] - rpy: [-92.94498574492239, -0.912417282570945, 76.04306111182633] + rpy: [-12.552441974195494, -75.69594779845194, -102.00055071794432] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_030 xyz: [-0.008920117281377316, -0.03345209360122681, 0.017853563651442528] - rpy: [84.27979697356525, -39.08160616040939, -87.9287520375001] + rpy: [-69.96469430906745, -85.30280262454932, -19.12658887654237] scale: 1.0 - object_id: active_perception/omni_objects/waffle/waffle_042 xyz: [0.02958063967525959, -0.004075196571648121, 0.0814012810587883] - rpy: [-107.02056592459351, -1.6992906857528687, 6.909736360744587] + rpy: [-3.6537172131983993, -6.1089296231540855, -107.11300084842416] scale: 1.0 diff --git a/cfg/sim/scene_192.yaml b/cfg/sim/scene_192.yaml index 937efc6..dfd7480 100644 --- a/cfg/sim/scene_192.yaml +++ b/cfg/sim/scene_192.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/flower/flower_pot_023 xyz: [-0.014566381461918354, 0.0026734061539173126, 0.13491244614124298] - rpy: [-0.7887524954881484, 45.06783832571859, 83.8454906262392] + rpy: [85.649015926639, 3.5663797228800194, -44.96225661858854] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_047 xyz: [-0.001546724932268262, 0.006347572896629572, -467.6553955078125] - rpy: [-89.92725539631179, 0.21353859414379164, -0.2515224520832853] + rpy: [0.21321908111535803, 0.2517933642746531, -89.92725519907984] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_028 xyz: [0.025759629905223846, 0.02623938024044037, 0.06610733270645142] - rpy: [145.06740259601747, 1.4459579927274795e-05, -1.6409027620680626e-05] + rpy: [5.17281662883146e-06, -2.125035546011935e-05, 145.06740259602046] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_044 xyz: [-0.024567481130361557, -0.015394643880426884, 0.11640952527523041] - rpy: [-38.452897904842565, 61.8878640094782, 127.20547812253159] + rpy: [134.29081647595285, -65.91934001084697, -25.260829807392966] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_041 xyz: [-0.012324175797402859, 0.010652253404259682, -439.369873046875] - rpy: [-90.00000482967253, 1.056490942484506e-06, 1.6601998948416503e-06] + rpy: [1.0564908025401e-06, -1.6601999779597997e-06, -90.00000482967253] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_042 xyz: [0.02596854418516159, -0.014225030317902565, 0.0926491841673851] - rpy: [-98.79656467050627, -8.681018226539535, 46.044659171477925] + rpy: [-17.293034227241936, -44.058503247448215, -102.14374480174929] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_040 xyz: [-0.007693031802773476, -0.017864730209112167, -420.9942321777344] - rpy: [-89.99999517032745, 3.9618406367475625e-07, 3.961840931383349e-07] + rpy: [3.961840891191937e-07, -3.9618406367475625e-07, -89.99999517032741] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_030 xyz: [-0.013441702350974083, 0.00784082617610693, 0.0867835134267807] - rpy: [126.14692333650756, 30.398612241113348, -116.8560808287455] + rpy: [118.72976700789165, -35.84369047869475, -128.87546860532225] scale: 1.0 diff --git a/cfg/sim/scene_193.yaml b/cfg/sim/scene_193.yaml index d241a75..3ce7164 100644 --- a/cfg/sim/scene_193.yaml +++ b/cfg/sim/scene_193.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/table/table_028 xyz: [1.2764345407485962, 1.7453904151916504, 0.3799339830875397] - rpy: [5.4876728320828665, -6.902957503042409, 93.9138508995427] + rpy: [93.90647881559063, 5.945047976894821, 6.513704662741407] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_124 xyz: [-0.09340732544660568, 0.24996139109134674, 0.07224663347005844] - rpy: [-90.04738243468516, -4.512651427703142, -0.5957111067469737] + rpy: [-4.512158759336243, 0.5994389169833335, -90.04723813364677] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_118 xyz: [0.05117378756403923, -0.1763823926448822, 0.07235796004533768] - rpy: [36.350649454360465, 2.0811698483913226, 2.082570001839295] + rpy: [0.4450442181154365, 2.910079719874334, 36.30151376910144] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_045 xyz: [-0.06275323033332825, -0.026214580982923508, 0.0713404044508934] - rpy: [-46.33053430938545, -89.9999383329514, -92.43313613605407] + rpy: [-90.00000397203357, 48.76367044513003, -89.99993539569084] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_038 xyz: [0.1470853090286255, 0.24204981327056885, -473.1877746582031] - rpy: [-89.99999517032747, -1.5092727095493124e-06, 9.055635396813238e-07] + rpy: [-1.509272633216e-06, -9.055636613517998e-07, -89.99999517032747] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_041 xyz: [-0.1820966899394989, -0.3207213580608368, 0.07154413312673569] - rpy: [-49.53402639657019, 11.5405803364485, 122.77386739406657] + rpy: [138.86250334949503, -45.23240658483653, 25.453541275816026] scale: 1.0 - object_id: active_perception/omni_objects/walnut/walnut_038 xyz: [0.15762747824192047, 0.10451255738735199, -453.979736328125] - rpy: [-90.0, -7.970845973310922e-07, 2.9713804480688954e-07] + rpy: [-7.970845846088735e-07, -2.9713805411717653e-07, -90.0] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_044 xyz: [-0.06488001346588135, 0.09480291604995728, 0.07429467886686325] - rpy: [-155.62943802199237, -81.19905425381637, 148.3767991080511] + rpy: [-134.97843344885115, -79.37861587433926, -139.12444142893568] scale: 1.0 diff --git a/cfg/sim/scene_194.yaml b/cfg/sim/scene_194.yaml index 03ba68b..7d08652 100644 --- a/cfg/sim/scene_194.yaml +++ b/cfg/sim/scene_194.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/chair/chair_028 xyz: [-0.003508185036480427, -0.0004306584596633911, 0.297487735748291] - rpy: [-0.09410734691689837, 0.8284025160353319, 89.70110812946105] + rpy: [89.7011390030185, -0.0897847531471609, -0.8288821174814519] scale: 1.0 - object_id: active_perception/omni_objects/walnut/walnut_039 xyz: [-0.043056730180978775, 0.06958190351724625, 0.3120899498462677] - rpy: [-97.57198164471974, 34.12357105277867, 37.58415789993637] + rpy: [28.776871057913635, -41.543391310169994, -98.38050786002823] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_045 xyz: [0.0421561598777771, -0.04750030115246773, 0.2979702949523926] - rpy: [64.95130117597898, 82.31295613245838, 140.1557126669075] + rpy: [96.10255374351406, 14.968774686427258, -86.63924687040792] scale: 1.0 - object_id: active_perception/omni_objects/ginger/ginger_036 xyz: [-0.009224501438438892, -0.05255249887704849, 0.3122490346431732] - rpy: [-90.79252721293265, -68.09752879194721, 16.457893262369197] + rpy: [-68.18264793327644, -15.72234930755319, -90.30711711424446] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_056 xyz: [0.08821800351142883, 0.03532162308692932, 0.3235689103603363] - rpy: [-98.63809632926973, -17.197427307251942, -9.95120968208977] + rpy: [-15.557590951661743, 12.391354277251372, -98.44731674382682] scale: 1.0 - object_id: active_perception/omni_objects/pear/pear_036 xyz: [-0.006728057749569416, 0.013279100880026817, 0.32789507508277893] - rpy: [-71.53474797392055, -36.05413244933162, -32.80217051755011] + rpy: [-43.31982133157227, 20.926012348416766, -74.08890233171431] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_039 xyz: [0.15791907906532288, 0.008880577981472015, 0.31369224190711975] - rpy: [-171.3075189846586, -81.17783642975276, 118.98208471802823] + rpy: [-95.35786890822241, -37.26548572149497, -100.98191079979964] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_130 xyz: [0.04810537397861481, -0.08197561651468277, 0.3111250400543213] - rpy: [-83.28455696174896, -8.222533744764677, -4.539167590018856] + rpy: [-8.69277109365681, 3.5503550410735176, -83.34106647299377] scale: 1.0 diff --git a/cfg/sim/scene_195.yaml b/cfg/sim/scene_195.yaml index 1969199..e8b7447 100644 --- a/cfg/sim/scene_195.yaml +++ b/cfg/sim/scene_195.yaml @@ -5,30 +5,30 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_001 xyz: [2.496875822544098e-06, 1.4834105968475342e-05, -0.005999863147735596] - rpy: [-0.0009199662541395134, -5.128198637315767e-07, 89.99996619229341] + rpy: [89.9999661922934, -0.0009199662544411804, 5.122770321029819e-07] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_110 xyz: [0.11695434153079987, -0.14005471765995026, 0.802833616733551] - rpy: [-89.47317572140732, -5.19386682263855, -1.2511019006214659] + rpy: [-5.2051063488988785, 1.2033588244292608, -89.47522313200213] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_044 xyz: [-0.38139715790748596, -0.17634505033493042, 0.8086625933647156] - rpy: [116.00030272190305, 82.44991234345011, 101.76190570371429] + rpy: [-96.17523932216506, 75.58223672209311, 103.37552125603207] scale: 1.0 - object_id: active_perception/omni_objects/ginger/ginger_036 xyz: [-0.4822533428668976, -0.08341488242149353, 0.8268919587135315] - rpy: [-91.38545404304746, -8.546114698220777, 10.30012394691385] + rpy: [-8.792455292501238, -10.091282800328282, -91.39160021430988] scale: 1.0 - object_id: active_perception/omni_objects/lemon/lemon_030 xyz: [-0.18769524991512299, 0.23453406989574432, 0.4764013886451721] - rpy: [-98.12877098490836, -13.996736787885913, 25.665911258407956] + rpy: [-17.577629911623625, -23.449834408001273, -98.60095492984419] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_059 xyz: [-0.6190880537033081, 0.09681201726198196, 0.8438126444816589] - rpy: [89.80646750697325, -52.35911648740168, -177.63952758773604] + rpy: [-127.63617004473318, -2.2072180037871063, -89.88172008945378] scale: 1.0 diff --git a/cfg/sim/scene_196.yaml b/cfg/sim/scene_196.yaml index dc75966..a451af8 100644 --- a/cfg/sim/scene_196.yaml +++ b/cfg/sim/scene_196.yaml @@ -5,10 +5,10 @@ objects: - object_id: active_perception/omni_objects/chair/chair_027 xyz: [0.012179693207144737, 0.02302008867263794, 0.37148430943489075] - rpy: [-0.387062228313289, -1.845347358307052, 93.16569679091832] + rpy: [93.16409241679933, -0.2845827921611966, 1.8638973792929274] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_046 xyz: [0.00507152546197176, -0.012590482831001282, 0.4487641453742981] - rpy: [-66.03429316461042, -31.669777804766845, -4.053425862514314] + rpy: [-30.859256166493946, -8.518735053139679, -69.53960422938385] scale: 1.0 diff --git a/cfg/sim/scene_197.yaml b/cfg/sim/scene_197.yaml index b71c931..edb0c73 100644 --- a/cfg/sim/scene_197.yaml +++ b/cfg/sim/scene_197.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_005 xyz: [2.6065390557050705e-07, -9.5367431640625e-07, -0.006000012159347534] - rpy: [1.4295935864617665e-05, 3.818289176421139e-06, 89.99995170327294] + rpy: [89.99995170327294, 1.4295939065802749e-05, -3.818277115757787e-06] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_044 xyz: [0.08972744643688202, 0.07983926683664322, 0.10694747418165207] - rpy: [-56.57289693306632, -18.263724714724045, 18.156068947439977] + rpy: [-4.869461197853639, -25.094146524962735, -54.71473880211244] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_065 xyz: [-0.14632262289524078, 0.18010561168193817, 0.11854477226734161] - rpy: [-65.67572877023768, 73.335306275339, 29.391024326071836] + rpy: [75.45108291067747, -5.934398248792731, -83.17961701844656] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_056 xyz: [-0.16819050908088684, 0.1031663566827774, 0.8426326513290405] - rpy: [-139.03018478781877, -27.714892378413285, 66.81446061068931] + rpy: [-66.82345975629892, -27.674854506541543, -139.00599347332684] scale: 1.0 - object_id: active_perception/omni_objects/tomato/tomato_029 xyz: [0.16391101479530334, 0.17425844073295593, 0.1204882338643074] - rpy: [-107.97609076884241, -23.692630813929128, 26.614812691128616] + rpy: [-30.38201493004858, -18.37587914945675, -107.32507151948337] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_038 xyz: [-0.06204180419445038, 0.15801206231117249, 0.7837197780609131] - rpy: [-60.463545462666296, 53.56269259464962, 121.07812456835595] + rpy: [168.7661706626494, -71.78484725517765, 20.49499804559263] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_126 xyz: [0.052473876625299454, 0.09548627585172653, 0.10674350708723068] - rpy: [-50.60611598905424, 41.45156062200963, -23.602764122298815] + rpy: [17.357724819352917, 43.97993486890253, -48.620182963172496] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_129 xyz: [0.04482492804527283, 0.09507423639297485, 0.7573024034500122] - rpy: [-89.99995552187492, 0.6126665024786795, 1.1510553441175866] + rpy: [0.6126673961000704, -1.1510548685195878, -89.99995551544114] scale: 1.0 diff --git a/cfg/sim/scene_198.yaml b/cfg/sim/scene_198.yaml index c0a00d0..08b323d 100644 --- a/cfg/sim/scene_198.yaml +++ b/cfg/sim/scene_198.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/table/table_028 xyz: [1.3163577318191528, 1.6497305631637573, 0.3625776171684265] - rpy: [144.28243891060808, -54.69390653519526, -71.5381246600167] + rpy: [78.76054772227296, -20.116174125678224, 119.98148196436435] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_038 xyz: [-0.1395861655473709, -0.2262658327817917, 0.07207141816616058] - rpy: [-89.94376887890412, 85.58499540908572, 133.4418588063005] + rpy: [-94.41958219618574, -46.61420528318734, 89.99369830807615] scale: 1.0 - object_id: active_perception/omni_objects/garlic/garlic_032 xyz: [-0.12044960260391235, 0.3066619336605072, 0.07009635865688324] - rpy: [110.56660785580422, -2.231352058724493, -179.25584357406387] + rpy: [-178.1720603450487, -1.4804732815070498, -110.55748076355434] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_042 xyz: [0.0822782963514328, -0.057888470590114594, 0.07187096774578094] - rpy: [154.68801071740828, -80.56272157701608, 129.4004168791291] + rpy: [-96.14772745599714, -13.630127819929273, -98.77306225231209] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_045 xyz: [0.12258399277925491, 0.07610821723937988, 0.07134044170379639] - rpy: [77.11821009512153, -89.99998258636607, 144.4983451341664] + rpy: [-90.00002134545144, 48.38344477460717, -89.9999941545649] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_120 xyz: [0.08395368605852127, 0.14826186001300812, 0.06865666061639786] - rpy: [-89.97952173995048, -3.0166374296327874, -1.1266846413978677] + rpy: [-3.017039422790739, 1.12560688208525, -89.97954616984451] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_114 xyz: [-0.06727704405784607, -0.03253624960780144, 0.09676691889762878] - rpy: [-89.16727095376642, -6.658127750448981, -17.948894192699438] + rpy: [-6.9252039379941905, 17.850414068802436, -89.13105354026945] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_104 xyz: [0.1344314068555832, 0.25272074341773987, -444.7189025878906] - rpy: [-90.0, -4.999465941027905e-07, -1.9809204656916814e-07] + rpy: [-4.999465813805719e-07, 1.9809204455959684e-07, -90.0] scale: 1.0 diff --git a/cfg/sim/scene_199.yaml b/cfg/sim/scene_199.yaml index 7013e3c..78039df 100644 --- a/cfg/sim/scene_199.yaml +++ b/cfg/sim/scene_199.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/picnic/picnic_basket_011 xyz: [-0.0002684744540601969, 0.0009425089228898287, 0.05326951667666435] - rpy: [0.0001293748123487412, 0.18569876325271953, 90.65005435629654] + rpy: [90.65005094231286, -0.0019774464413369296, -0.18568827946489394] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_046 xyz: [0.03580857440829277, 0.05748626962304115, 0.15622678399085999] - rpy: [-67.000553201863, 1.0551871770664658, -11.523437207442301] + rpy: [-3.5888246569548787, 11.007597500413732, -66.54816373996711] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_030 xyz: [0.017437895759940147, -0.0010328767821192741, 0.14453144371509552] - rpy: [-70.34773966004512, -83.01493823846742, 51.453066592090366] + rpy: [-76.65552405284686, -70.83201633207968, -82.84446993774795] scale: 1.0 - object_id: active_perception/omni_objects/soap/soap_037 xyz: [0.007116491906344891, 0.04613404721021652, 0.14757677912712097] - rpy: [-106.46962076305095, -49.34588903210599, 55.765467170170645] + rpy: [-60.34249500273546, -42.207540165413285, -104.43942121143527] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_123 xyz: [-0.024788040667772293, 0.044539447873830795, 0.14023256301879883] - rpy: [-126.14783612042696, -9.856619985225386, -10.46062593058315] + rpy: [-1.7047630301328296, 14.235431237406454, -126.83943981382247] scale: 1.0 - object_id: active_perception/omni_objects/garlic/garlic_033 xyz: [0.04978930950164795, -0.0016235895454883575, 0.14768867194652557] - rpy: [-81.7300705820586, 8.111551987121421, -5.091845615794787] + rpy: [7.299761545979818, 6.202633240522705, -81.76483955741728] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_112 xyz: [0.048864129930734634, -0.06918372958898544, 0.1665545403957367] - rpy: [-80.3834829904917, -25.191830215777983, -1.5498485398463084] + rpy: [-25.116015379626155, -2.54554535009392, -81.2969461553831] scale: 1.0 - object_id: active_perception/omni_objects/pear/pear_038 xyz: [-0.036172717809677124, -0.06862620264291763, 0.15969997644424438] - rpy: [-89.41036380809211, -22.04605526979007, -2.5929874004776448] + rpy: [-22.06974577925008, 2.371551753271381, -89.45300941447243] scale: 1.0 diff --git a/cfg/sim/scene_2.yaml b/cfg/sim/scene_2.yaml index 8a155e5..14a4e4f 100644 --- a/cfg/sim/scene_2.yaml +++ b/cfg/sim/scene_2.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_005 xyz: [-1.3614771887660027e-07, 3.2782554626464844e-07, 3.8743019104003906e-07] - rpy: [1.2558213085945724e-05, 1.5404601130171614e-05, 90.00002414836445] + rpy: [90.00002414836442, 1.2558206579150727e-05, -1.5404606435336823e-05] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_047 xyz: [0.1608186513185501, 0.2098824679851532, 0.10362031310796738] - rpy: [-151.09087125854458, 70.8227504342952, -75.89056399820416] + rpy: [85.23314660505677, 15.502632985728782, -107.36238944209394] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_040 xyz: [-0.07653196901082993, 0.09058877825737, 0.7665152549743652] - rpy: [84.83359315478327, 77.69877262478191, 136.37256095759415] + rpy: [101.37599689892068, 38.570616236723914, -88.59392117427083] scale: 1.0 - object_id: active_perception/omni_objects/pear/pear_036 xyz: [-0.052866131067276, 0.13706167042255402, 0.7877870798110962] - rpy: [-82.1481653014734, -7.758755213644246, -23.92861669038384] + rpy: [-11.097784474093391, 22.63987680282893, -81.56642905236167] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_060 xyz: [-0.18107056617736816, 0.020676633343100548, 0.11247339844703674] - rpy: [56.131796484903944, -52.76366785273729, -179.9085696382723] + rpy: [-132.43130278905502, 26.25419775889335, -67.91365354795285] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_054 xyz: [0.14998547732830048, 0.19807197153568268, 0.784217357635498] - rpy: [-86.92723036138284, 26.834095250686733, -20.730094372628223] + rpy: [25.75360828493846, 22.09157726553744, -87.04096943946841] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_041 xyz: [0.18047462403774261, 0.17807607352733612, 0.11499366164207458] - rpy: [28.208853736984107, -45.33255731798531, -90.89923928224313] + rpy: [-90.71310898218948, -27.56746900139645, -45.66612063484847] scale: 1.0 diff --git a/cfg/sim/scene_20.yaml b/cfg/sim/scene_20.yaml index f303b24..1e10e08 100644 --- a/cfg/sim/scene_20.yaml +++ b/cfg/sim/scene_20.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/chair/chair_027 xyz: [0.011631879024207592, 0.02296689711511135, 0.3715174198150635] - rpy: [-0.4777052533669246, -1.8582667296001605, 93.16313259787415] + rpy: [93.16153500533625, -0.37445876358481633, 1.8817833515995184] scale: 1.0 - object_id: active_perception/omni_objects/bowl/bowl_016 xyz: [0.18494336307048798, 0.004679824225604534, 0.4506555199623108] - rpy: [-65.17680186079883, -14.153488053543326, 103.34211546351897] + rpy: [115.95451344196441, -59.25171926281242, 37.23040251133453] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_045 xyz: [0.037102364003658295, 0.030628377571702003, 0.4346528947353363] - rpy: [120.1518830271412, 73.45336817205732, -168.95743341747658] + rpy: [107.07968797455612, 17.87586862627977, -98.64474057934362] scale: 1.0 - object_id: active_perception/omni_objects/soap/soap_037 xyz: [0.0548459067940712, 0.06729228049516678, 0.42365339398384094] - rpy: [-96.69547661541873, 7.453057779661705, 98.14566823925391] + rpy: [-136.4256770605883, -78.81820718160564, 126.5947761388803] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_109 xyz: [0.06268155574798584, 0.018211843445897102, 0.4285750687122345] - rpy: [-162.88989248305563, 0.8946566143358756, -4.523948911102695] + rpy: [4.586674347785256, 0.47724765333076513, -162.8736661128842] scale: 1.0 - object_id: active_perception/omni_objects/pear/pear_036 xyz: [0.03321743384003639, -0.06747225672006607, 0.4605293571949005] - rpy: [2.4863777277697086, -63.30284604016734, -130.35624666862157] + rpy: [-110.30126408780143, 33.01806879579863, -57.635476701810305] scale: 1.0 - object_id: active_perception/omni_objects/waffle/waffle_041 xyz: [0.043524932116270065, 0.19063155353069305, 0.41511884331703186] - rpy: [91.17681009426275, 61.96211973459067, -175.2060761515087] + rpy: [117.99656191508181, -3.755020184881825, -90.55432548262016] scale: 1.0 diff --git a/cfg/sim/scene_21.yaml b/cfg/sim/scene_21.yaml index 9402ce6..b55ad94 100644 --- a/cfg/sim/scene_21.yaml +++ b/cfg/sim/scene_21.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_003 xyz: [-9.21142054721713e-06, 4.3042004108428955e-05, 0.06524354219436646] - rpy: [2.1642662469978834e-05, 3.619132180376438e-07, 90.00001448901895] + rpy: [90.00001448901894, 2.1642662376748527e-05, -3.619186758694772e-07] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_113 xyz: [0.24367879331111908, 0.1255834996700287, -520.6961669921875] - rpy: [-90.3335038875702, -6.995436589966524, 5.422392696071811] + rpy: [-7.026738231384104, -5.381684626393414, -90.33248682789984] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_054 xyz: [-0.4215719401836395, 0.021023331210017204, 1.2659329175949097] - rpy: [-89.99767633454857, 1.90083034112848, 1.1885869532257571] + rpy: [1.9008785238246286, -1.1885098770502276, -89.99767711344113] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_040 xyz: [-0.09116429090499878, -0.08710652589797974, 1.282806634902954] - rpy: [-44.25443131084768, 31.496108377938064, 86.41106186796996] + rpy: [85.86143135119902, -42.303162688691714, -34.33436513584387] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_037 xyz: [-0.40645164251327515, -0.1833648532629013, 0.07233317196369171] - rpy: [-15.02655882927377, -81.73316929093382, 129.2055095776794] + rpy: [95.699952898474, 23.781161036753122, 81.27154929184192] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_053 xyz: [0.11290330439805984, 0.17519353330135345, 1.2852015495300293] - rpy: [-126.0901987514125, 20.66355514040187, 2.9215753979634465] + rpy: [15.2501985755839, -14.405572882976651, -124.68434858571646] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_054 xyz: [0.48242756724357605, -0.2080523669719696, 0.33269134163856506] - rpy: [-19.451451289873273, 0.0904942504924729, -90.20878012601078] + rpy: [-90.22141691828142, 19.450987200016023, 0.16422709309886782] scale: 1.0 diff --git a/cfg/sim/scene_22.yaml b/cfg/sim/scene_22.yaml index 30a30b3..363eeee 100644 --- a/cfg/sim/scene_22.yaml +++ b/cfg/sim/scene_22.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_003 xyz: [-2.741580829024315e-08, -2.9802322387695312e-08, 0.00037097930908203125] - rpy: [1.2155024359271774e-05, -3.5414142707907226e-06, 90.00002897803614] + rpy: [90.00002897803614, 1.2155026134843186e-05, 3.5414081259590783e-06] scale: 1.0 - object_id: active_perception/omni_objects/lemon/lemon_032 xyz: [-0.2638421058654785, 0.018328789621591568, 1.2195806503295898] - rpy: [-89.79426904973054, 6.323976820179709, 12.463209500096367] + rpy: [6.369126518195221, -12.440467594745307, -89.79060438577625] scale: 1.0 - object_id: active_perception/omni_objects/bowl/bowl_017 xyz: [0.11245172470808029, -0.22367559373378754, 1.2371712923049927] - rpy: [-87.9122699068425, 1.3292916070710872, 89.43000626082073] + rpy: [74.82107060383093, -87.82317248455823, -16.49783789301229] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_055 xyz: [-0.07952628284692764, -0.09313002973794937, 1.2349698543548584] - rpy: [-90.35392422706843, 8.795475342857175, -2.246660778159585] + rpy: [8.809031358702674, 2.192501460364484, -90.35001842937976] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_064 xyz: [-0.41686272621154785, -0.0027564994525164366, 0.21678829193115234] - rpy: [-84.27701167959468, -15.044356309411818, -18.084052703858806] + rpy: [-16.76007255009083, 16.514591759037646, -84.2352189673203] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_043 xyz: [-0.43120065331459045, 0.12483589351177216, 1.2043894529342651] - rpy: [-60.12262861824174, -77.10763080609584, -103.97545807082217] + rpy: [-100.92095984286597, 73.47573689090886, -66.99692409815788] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_049 xyz: [0.46525004506111145, 0.05989675968885422, 1.2265686988830566] - rpy: [-89.64861241943046, -6.661839024042792, -17.95062572814678] + rpy: [-6.774757460820967, 17.909517480813108, -89.63321139201092] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_040 xyz: [-0.42970502376556396, 0.05233021080493927, 1.2045601606369019] - rpy: [-13.215187285616874, 43.83827145390627, 106.23053105638822] + rpy: [102.75696045978857, -24.076858388427578, -39.72597519385248] scale: 1.0 diff --git a/cfg/sim/scene_23.yaml b/cfg/sim/scene_23.yaml index 483fbbb..c214a6b 100644 --- a/cfg/sim/scene_23.yaml +++ b/cfg/sim/scene_23.yaml @@ -5,30 +5,30 @@ objects: - object_id: active_perception/omni_objects/flower/flower_pot_022 xyz: [0.0016854408895596862, -0.00011460698442533612, 0.0520070381462574] - rpy: [-0.33844779338284076, -1.4658322458723143, 89.7293427258766] + rpy: [89.7294263814895, -0.34536762569976426, 1.4642176273090117] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_031 xyz: [0.018688064068555832, -0.03278050944209099, 0.017788531258702278] - rpy: [-96.33838367308559, 2.3765521678683115, -52.19132087193764] + rpy: [10.406619786826282, 51.483263752656846, -100.20251332120642] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_045 xyz: [0.021577736362814903, -0.0008062790147960186, 0.015988094732165337] - rpy: [17.503719590663927, -65.7589563700688, -78.35601085515754] + rpy: [-84.61272203336122, -28.040182915014736, -63.66357725637569] scale: 1.0 - object_id: active_perception/omni_objects/garlic/garlic_033 xyz: [-0.008900586515665054, 0.030188439413905144, 0.0209807176142931] - rpy: [-113.6004012214071, -9.420033370899407, 167.41363724113793] + rpy: [176.48532526938087, -15.285961766290683, 114.16977886358374] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_042 xyz: [-0.02780258283019066, -0.0013597114011645317, 0.027128273621201515] - rpy: [-162.27525196951547, -39.77950446847048, -133.16175881882714] + rpy: [122.41045920051374, -11.23533142235527, 138.27385730207519] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_043 xyz: [0.009000822901725769, -0.0316353365778923, 0.033743079751729965] - rpy: [151.44559150248665, 37.53936816458852, -18.506783418445245] + rpy: [0.1999907526841165, -41.24184181555135, 157.85893105977195] scale: 1.0 diff --git a/cfg/sim/scene_24.yaml b/cfg/sim/scene_24.yaml index 3062d0e..f4192e5 100644 --- a/cfg/sim/scene_24.yaml +++ b/cfg/sim/scene_24.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_009 xyz: [4.6584755182266235e-06, 1.1278316378593445e-05, -0.0165444016456604] - rpy: [-2.8018076276273095e-06, 0.03720121449581753, 89.91797282338165] + rpy: [89.91797284067172, 5.045708030630591e-05, -0.03720118038309635] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_125 xyz: [-0.052132248878479004, 0.17191633582115173, 1.2140307426452637] - rpy: [157.86363254593775, -64.76489564111344, 168.68099499975992] + rpy: [-129.01150343452602, -48.385958826483176, -126.48722405572263] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_111 xyz: [0.11794905364513397, 0.15393933653831482, 1.1979782581329346] - rpy: [-89.9987675262168, 0.08907508399398459, 0.032232496651103455] + rpy: [0.08907577731695476, -0.03223058057474845, -89.99876752751116] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_059 xyz: [-0.26895081996917725, 0.06105397269129753, 1.2231613397598267] - rpy: [-92.55744265574252, -16.030023858704176, 10.342107634362979] + rpy: [-16.46234255180104, -9.626509933248736, -92.49306680312868] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_061 xyz: [-0.06043992191553116, -0.05652777478098869, 1.194550633430481] - rpy: [-89.99995714564248, -0.1306284271193286, -0.06725047706973061] + rpy: [-0.13062847741915204, 0.0672503793662952, -89.99995714572432] scale: 1.0 - object_id: active_perception/omni_objects/lipstick/lipstick_031 xyz: [0.1574958860874176, 0.10855299234390259, 1.1948202848434448] - rpy: [95.5961038511342, -6.365568151615813, 0.3114540400730025] + rpy: [6.305287486390248, 0.9294633461696703, 95.56222740327954] scale: 1.0 - object_id: active_perception/omni_objects/cup/cup_037 xyz: [0.08715704083442688, 0.05228457599878311, 1.224064588546753] - rpy: [-89.78902500437668, 2.141751454692132, 7.2362913209940904] + rpy: [2.1685058212593034, -7.228357550355905, -89.78748341369312] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_037 xyz: [-0.16509822010993958, 0.1377595067024231, 1.1983356475830078] - rpy: [54.26376802211145, 65.02994861129423, -176.4346582351374] + rpy: [121.11251842630224, -35.37429137878435, -72.39950133466662] scale: 1.0 diff --git a/cfg/sim/scene_25.yaml b/cfg/sim/scene_25.yaml index d00965c..4b80a43 100644 --- a/cfg/sim/scene_25.yaml +++ b/cfg/sim/scene_25.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/table/table_026 xyz: [4.516914486885071e-07, -4.958361387252808e-06, 0.45463427901268005] - rpy: [0.0031753117410737667, 1.2555797881479361e-05, 89.99998068165691] + rpy: [89.99998068165685, 0.0031753117453084, -1.2554727255884705e-05] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_045 xyz: [0.222377210855484, 0.040181394666433334, 0.07623600214719772] - rpy: [-95.530475360801, -8.302815788466443, 91.81843413813867] + rpy: [-108.88956229421477, -84.43418498908426, 169.5001609620849] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_041 xyz: [0.016510671004652977, 0.10812345892190933, 0.07775527238845825] - rpy: [-79.2528314344631, 42.76395477063954, 30.836024678413605] + rpy: [46.67510194806594, -23.258314866112904, -81.43032925035375] scale: 1.0 - object_id: active_perception/omni_objects/cup/cup_038 xyz: [-0.08544410765171051, -0.044772543013095856, 0.0675392746925354] - rpy: [137.54576843289976, -34.59084470613236, -163.49681721961446] + rpy: [-168.69240644637762, -36.395702090889316, -138.9887286382757] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_061 xyz: [0.14867573976516724, -0.053852152079343796, 0.05942690744996071] - rpy: [-6.682258700338436, -65.62761134139967, -173.78087258803916] + rpy: [-179.68912594184417, 65.77990208628145, 2.468845689582841] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_045 xyz: [0.14712093770503998, -0.10209600627422333, 0.07241001725196838] - rpy: [-81.0022163904136, 28.215720344938177, 22.643952045340036] + rpy: [31.131398893139934, -18.181164606496523, -81.65958481541335] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_047 xyz: [0.056560587137937546, 0.15644165873527527, 0.7761340737342834] - rpy: [-164.85845024782296, 70.64951704143552, -75.58093058661835] + rpy: [85.26556496116389, 1.5006238071467692, -108.66004582308945] scale: 1.0 diff --git a/cfg/sim/scene_26.yaml b/cfg/sim/scene_26.yaml index 5de1899..6536650 100644 --- a/cfg/sim/scene_26.yaml +++ b/cfg/sim/scene_26.yaml @@ -5,30 +5,30 @@ objects: - object_id: active_perception/omni_objects/cabinet/cabinet_009 xyz: [0.007655736058950424, -0.010698762722313404, 0.46825119853019714] - rpy: [0.023537081878660746, -0.960354126178995, 88.61152720766167] + rpy: [88.61172228181707, 0.00026087309341431655, 0.9606424527173651] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_045 xyz: [-0.009152433834969997, -0.09256786108016968, 0.9406346082687378] - rpy: [-96.2116725534299, 28.989650405942534, 17.046948765020048] + rpy: [27.152833300726606, -19.972576152759025, -95.77957017021822] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_064 xyz: [-0.03347316011786461, -0.16442500054836273, 0.950839102268219] - rpy: [-84.09430811208782, -60.25601527150184, 7.421449824391271] + rpy: [-59.735929676446126, -12.536906169307962, -87.00241390287543] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_028 xyz: [0.13110430538654327, 0.05870744213461876, 0.9280725121498108] - rpy: [130.80883768540153, -82.88414462477475, 172.77383804486237] + rpy: [-98.44922783612401, -33.23990773842, -95.55464055573846] scale: 1.0 - object_id: active_perception/omni_objects/pear/pear_039 xyz: [0.016119051724672318, 0.12113690376281738, 0.9541727900505066] - rpy: [-90.6265617730389, 13.5227753254195, 6.772742181317633] + rpy: [13.449627701838706, -6.918864799891654, -90.61365997213359] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_043 xyz: [0.009344099089503288, -0.04049042612314224, 0.9312810897827148] - rpy: [-115.0482047981965, -83.39543773362601, -69.27325509826598] + rpy: [62.283973601140104, 84.97893586101054, 123.80595501827472] scale: 1.0 diff --git a/cfg/sim/scene_27.yaml b/cfg/sim/scene_27.yaml index 62baf7d..965ddd7 100644 --- a/cfg/sim/scene_27.yaml +++ b/cfg/sim/scene_27.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/flower/flower_pot_021 xyz: [0.002188779879361391, -0.0015618011821061373, 0.02972041256725788] - rpy: [0.3658835462221892, -2.4519361411323652, 88.80327818798196] + rpy: [88.80435596495333, 0.31461028834139365, 2.459036604957535] scale: 1.0 - object_id: active_perception/omni_objects/walnut/walnut_037 xyz: [-0.0003160099149681628, 0.026253653690218925, 0.010763399302959442] - rpy: [-137.93780580211788, -38.65997728004756, 46.34918001144928] + rpy: [-56.875753625384654, -9.474312050023585, -125.99728338013497] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_038 xyz: [0.004553079139441252, -0.028080366551876068, -0.011036083102226257] - rpy: [61.44677309718858, -20.994872698555955, 156.38337914464705] + rpy: [-173.5394710512776, 30.583768972468505, -58.77812603888681] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_037 xyz: [0.031018627807497978, -0.02011658251285553, 0.0023052352480590343] - rpy: [-29.62046998693347, -37.43600294889406, 70.76927926178872] + rpy: [70.08413910991653, -39.845972787715326, 25.965842410736663] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_041 xyz: [0.00807546079158783, 0.020355913788080215, 0.03241581842303276] - rpy: [124.50760586457922, 61.964058336972975, -73.58092902791985] + rpy: [68.53126936055365, -68.71509377254596, -137.18339875546297] scale: 1.0 - object_id: active_perception/omni_objects/tomato/tomato_028 xyz: [-0.02831221930682659, -0.0035460186190903187, 0.009630385786294937] - rpy: [-153.73784214063565, -10.493439064771264, -60.696009010900525] + rpy: [57.05321085235281, 27.76168957317976, -175.19362225348308] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_042 xyz: [0.006021695211529732, -0.036841295659542084, 0.013682245276868343] - rpy: [161.15094488152923, 43.7330612555122, -169.43141258117015] + rpy: [151.0371321847016, 35.7233919586295, -147.38405403633408] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_044 xyz: [0.00842110812664032, 0.003992254380136728, 0.007471449673175812] - rpy: [-106.17348842760312, 41.99555543436923, 30.309112397462613] + rpy: [32.84389416060053, -40.20963095641152, -105.72812303288426] scale: 1.0 diff --git a/cfg/sim/scene_28.yaml b/cfg/sim/scene_28.yaml index eb04f4c..0fab5d2 100644 --- a/cfg/sim/scene_28.yaml +++ b/cfg/sim/scene_28.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_003 xyz: [5.920726107433438e-05, 8.978694677352905e-05, 0.06524372100830078] - rpy: [-0.004719966310740871, 7.365517208558546e-07, 89.99999034062417] + rpy: [89.99999034062414, -0.004719966310635493, -7.373474320260631e-07] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_126 xyz: [0.25629517436027527, 0.17612384259700775, 0.1765328198671341] - rpy: [-154.98445964661454, -86.27077970037101, 62.675559618753155] + rpy: [-88.28780520354607, 2.2583948774882923, -93.3815961943124] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_029 xyz: [0.2753090560436249, -0.23083452880382538, 0.19813188910484314] - rpy: [80.62276502698975, 2.192504076040657, -154.14780361428743] + rpy: [-177.63886669709728, -25.838355344016918, -79.57782903804521] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_053 xyz: [0.3283778131008148, 0.017984677106142044, 1.2851991653442383] - rpy: [-108.70378584116393, 20.66336049291537, 2.9229724473779406] + rpy: [18.763730605315324, -9.283059891224898, -107.69970754455198] scale: 1.0 - object_id: active_perception/omni_objects/cup/cup_033 xyz: [0.08011385798454285, -0.17169442772865295, 0.30336567759513855] - rpy: [123.96502370950437, 0.8045895435193959, 166.9879940277047] + rpy: [-173.30008354494495, 11.208668011852009, -124.71496916020821] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_041 xyz: [0.18494923412799835, -0.06862471252679825, 1.2843858003616333] - rpy: [-90.68438132351093, -4.267100686584912, 7.92318231432563] + rpy: [-4.361767375904184, -7.871695724422324, -90.68897651228994] scale: 1.0 - object_id: active_perception/omni_objects/corn/corn_031 xyz: [-0.23812496662139893, 0.028220776468515396, 0.2752571105957031] - rpy: [-87.6202864591863, -50.00768707738347, 2.5934784451243176] + rpy: [-49.91391941676459, -4.415506903508688, -88.46629918917806] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_129 xyz: [0.2536359429359436, -0.03717641532421112, 0.0692346841096878] - rpy: [85.30343152357781, -2.919421139708533, -177.6695672867082] + rpy: [-176.89972359607162, -2.0836890104449717, -85.3064302115467] scale: 1.0 diff --git a/cfg/sim/scene_29.yaml b/cfg/sim/scene_29.yaml index a12c413..3ca24f1 100644 --- a/cfg/sim/scene_29.yaml +++ b/cfg/sim/scene_29.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/table/table_025 xyz: [0.0002713622525334358, 0.002130318433046341, 0.22824013233184814] - rpy: [-0.1393382947404613, -0.011972274683030686, 90.63608131127356] + rpy: [90.63608317460479, -0.1391967981979497, 0.013518401927398995] scale: 1.0 - object_id: active_perception/omni_objects/garlic/garlic_032 xyz: [0.009108941070735455, -0.007731622084975243, 0.5099620223045349] - rpy: [-91.55966412725769, 11.965773382421203, 5.215730171337874] + rpy: [11.822130560736476, -5.537197603625969, -91.53292173001977] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_103 xyz: [0.015503761358559132, 0.15643654763698578, 0.033399783074855804] - rpy: [-82.43804224635487, -0.5599028323815638, 3.1841744119499342] + rpy: [-0.13556717105266786, -3.230135612663024, -82.42630242108467] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_030 xyz: [0.004499285947531462, -0.10530705749988556, 0.5072919130325317] - rpy: [20.38418884312026, -39.788347883194646, -94.01330960730249] + rpy: [-93.23776620755844, -17.786734204329036, -40.84755032193695] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_040 xyz: [-0.17774489521980286, -0.02097119390964508, 0.5090992450714111] - rpy: [32.703875769295365, 79.6856642456661, 66.15599461192667] + rpy: [82.56669281782712, 55.98076675349005, -74.3774875422343] scale: 1.0 - object_id: active_perception/omni_objects/lipstick/lipstick_030 xyz: [-0.01911872811615467, 0.051600467413663864, 0.016784118488430977] - rpy: [-90.02529953338993, 0.8808911555012701, -0.01394693426783045] + rpy: [0.8808972273213228, 0.013557981807707615, -90.02529654408413] scale: 1.0 - object_id: active_perception/omni_objects/walnut/walnut_037 xyz: [0.05458124354481697, 0.2030208557844162, 0.018712038174271584] - rpy: [-91.21436509010519, -3.653300847626802, -6.375340382259449] + rpy: [-3.5170643160302473, 6.451280449399937, -91.21962108614161] scale: 1.0 diff --git a/cfg/sim/scene_3.yaml b/cfg/sim/scene_3.yaml index a473427..a94e398 100644 --- a/cfg/sim/scene_3.yaml +++ b/cfg/sim/scene_3.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/chair/chair_027 xyz: [0.012478331103920937, 0.023591354489326477, 0.3941042125225067] - rpy: [-0.43409256419389175, -1.9414597476733313, 93.28260549689227] + rpy: [93.28077103824077, -0.32223253753626113, 1.9631192035203073] scale: 1.0 - object_id: active_perception/omni_objects/lipstick/lipstick_031 xyz: [-0.059644922614097595, 0.009799901396036148, 0.4570856988430023] - rpy: [-55.353825533630285, -2.9354283513357067, 2.8880265508939846] + rpy: [-0.7715682161957816, -4.044231493982649, -55.30705506733739] scale: 1.0 - object_id: active_perception/omni_objects/lemon/lemon_029 xyz: [-0.01985994353890419, 0.08383921533823013, 0.474084734916687] - rpy: [-90.29457072569063, -1.4709152761915085, 5.2458159802213284] + rpy: [-1.4979320396104236, -5.238185054936987, -90.29570861576954] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_039 xyz: [-0.0023786902893334627, 0.011469738557934761, 0.4709773063659668] - rpy: [-56.777759335190105, 35.3045698380747, 90.4139611445453] + rpy: [90.62054737281089, -57.015465053086835, -34.784743093705174] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_118 xyz: [0.11545368283987045, -0.07257583737373352, 0.4530535936355591] - rpy: [-56.55297650198005, -1.9565439993432958, 4.7821424654630915] + rpy: [1.0101600525437913, -5.066586123419874, -56.42657671322173] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_055 xyz: [0.05363892763853073, -0.022680124267935753, 0.4885134696960449] - rpy: [-68.32347555082846, 7.5769104146233754, 1.709186324387666] + rpy: [7.6732937630029046, 1.2012659403576993, -68.51722472783042] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_130 xyz: [0.07856171578168869, 0.09975654631853104, 0.44260814785957336] - rpy: [-90.12100424941973, 5.191965611798933, 6.768990474172457] + rpy: [5.177650243620416, -6.779925452810348, -90.12135643515877] scale: 1.0 diff --git a/cfg/sim/scene_30.yaml b/cfg/sim/scene_30.yaml index b43f2dc..27234eb 100644 --- a/cfg/sim/scene_30.yaml +++ b/cfg/sim/scene_30.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/flower/flower_pot_022 xyz: [0.001432997640222311, -9.136504377238452e-05, 0.05203130096197128] - rpy: [-0.27843369897781517, -1.2416591531438295, 89.77050697357274] + rpy: [89.77055805381008, -0.28340441660514043, 1.2405342108907735] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_045 xyz: [0.028455134481191635, 0.017666660249233246, 0.02301545813679695] - rpy: [-140.26543419511373, 8.43938975212, 58.85932351600914] + rpy: [-50.00241181817661, -37.26372843642407, -162.90303762991843] scale: 1.0 - object_id: active_perception/omni_objects/garlic/garlic_033 xyz: [0.006874584127217531, 0.01272235531359911, 0.014066335745155811] - rpy: [-70.8937273411105, 8.181002794699479, -4.568756305238305] + rpy: [6.244424741716655, 6.990078281410568, -70.94858300275953] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_040 xyz: [0.03195023164153099, -0.007611270993947983, 0.014371706172823906] - rpy: [138.17933836219143, -8.52845173346709, -34.737468682019376] + rpy: [31.90298572450351, -16.80608665552048, 140.34288337580162] scale: 1.0 - object_id: active_perception/omni_objects/soap/soap_037 xyz: [0.003135314444079995, -0.018259478732943535, 0.010420072823762894] - rpy: [-175.0957150290976, 2.7884089378087045, 111.39448675517025] + rpy: [-111.41101468149114, -3.5499802730429915, 175.6147407901807] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_041 xyz: [-0.018980104476213455, -0.026971610262989998, 0.011111970990896225] - rpy: [-73.09655580440047, -15.068999641615767, 141.43590239849053] + rpy: [153.54159605233593, -32.50345151496915, 70.5545894324125] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_039 xyz: [0.02749377116560936, -0.028341490775346756, 0.02162272483110428] - rpy: [-91.07747463698333, -1.894229954611798, 20.508535668901555] + rpy: [-2.296585424606485, -20.46913790251358, -91.14947145011607] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_038 xyz: [-0.023121558129787445, 0.01626509241759777, 0.014791922643780708] - rpy: [-99.06473863699638, 37.526245334161025, -39.82044675682922] + rpy: [42.740970047247785, 33.96438564463206, -98.66475792333536] scale: 1.0 diff --git a/cfg/sim/scene_31.yaml b/cfg/sim/scene_31.yaml index 5efec9f..6488f23 100644 --- a/cfg/sim/scene_31.yaml +++ b/cfg/sim/scene_31.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/picnic/picnic_basket_010 xyz: [-0.002325912471860647, -0.004745739512145519, 0.07650265842676163] - rpy: [-0.06905558062338624, 1.8594610379633092, 86.24631889564417] + rpy: [86.24829672771534, 0.05280491069490397, -1.8599932719194454] scale: 1.0 - object_id: active_perception/omni_objects/pear/pear_038 xyz: [-0.0006234091706573963, -0.043876904994249344, 0.04291005805134773] - rpy: [113.51483488188079, 45.605777759431376, 131.19602153974765] + rpy: [164.09250166454524, 61.37174809478983, -125.6320639403653] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_040 xyz: [-0.05146441236138344, 0.031429652124643326, 0.048231709748506546] - rpy: [-36.2262615424691, 19.162564146099722, 113.11030813878376] + rpy: [119.11102086134025, -40.35210848784271, -0.8711433545178684] scale: 1.0 - object_id: active_perception/omni_objects/waffle/waffle_042 xyz: [0.0523575022816658, -0.03447752073407173, 0.06601247191429138] - rpy: [-73.76096985465576, -39.543910484617534, 172.20107546781512] + rpy: [139.89077662413615, 2.6429368718120423, 77.53317138364983] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_130 xyz: [-0.054038602858781815, -0.04483973607420921, 0.05855628475546837] - rpy: [134.99401482550417, -22.304829015847428, -85.78532014031114] + rpy: [84.64101011854757, -43.2786144674138, 153.96111574962484] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_114 xyz: [0.014022773131728172, 0.015282340347766876, 0.034056901931762695] - rpy: [-76.1107058953612, -14.148904478551922, -4.343017796417919] + rpy: [-14.76297810482802, 0.8597011111268614, -76.53856982839265] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_124 xyz: [0.06586838513612747, 0.01757574826478958, 0.03590649738907814] - rpy: [-44.620497678433566, 10.897384397583465, -21.775558924527296] + rpy: [-8.77323224712823, 22.6768417481793, -40.755806928203526] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_063 xyz: [-0.03384911268949509, -0.005442720837891102, 0.05679475516080856] - rpy: [-58.076428598614804, 18.441192687623268, 18.569327385828167] + rpy: [25.18658475728446, -6.414691733431846, -59.682317505991676] scale: 1.0 diff --git a/cfg/sim/scene_32.yaml b/cfg/sim/scene_32.yaml index 327605a..b6ffb85 100644 --- a/cfg/sim/scene_32.yaml +++ b/cfg/sim/scene_32.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/flower/flower_pot_022 xyz: [0.0014909281162545085, -0.00024284413666464388, 0.06899769604206085] - rpy: [-0.04685378370180156, -1.4680299434083592, 89.72892313169848] + rpy: [89.72901198693665, -0.053797993452792, 1.46779192000837] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_029 xyz: [0.02930140681564808, 0.015070909634232521, 0.028788994997739792] - rpy: [38.946837751172424, 86.8688814867878, 83.16796344704349] + rpy: [89.46629792284722, 45.76752888978027, -86.50866019112101] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_038 xyz: [-0.019432399421930313, 0.008056133054196835, 0.03992009162902832] - rpy: [3.1410846210741528, -44.18801658063454, 50.215661054649686] + rpy: [59.90614861275022, -23.78101769345084, 38.5181375741385] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_028 xyz: [-0.01442879717797041, 0.02817351743578911, 0.027793005108833313] - rpy: [102.77008142367211, 37.326373196501514, 95.13257773185764] + rpy: [-113.04214258833484, 79.528265531557, 165.26012874207723] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_040 xyz: [0.0006161424098536372, -0.021547967568039894, 0.044916387647390366] - rpy: [147.42137302388377, 53.479874610569546, 33.4919074926708] + rpy: [-58.996861276677365, -15.523093767387534, 121.36257541560427] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_031 xyz: [0.004991597030311823, -0.03141811862587929, 0.025500496849417686] - rpy: [84.94861090762451, 80.38958611744052, -3.7726555712878715] + rpy: [-80.40845681488273, 1.2080694452158756, 89.15755538171803] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_041 xyz: [0.020195169374346733, 0.006079243496060371, 0.03649688884615898] - rpy: [-135.4551637252852, 61.16553022806561, 124.43448572026118] + rpy: [-106.25559786901796, -13.032910719522034, 110.6593149998107] scale: 1.0 diff --git a/cfg/sim/scene_33.yaml b/cfg/sim/scene_33.yaml index 1cbb526..b03ab89 100644 --- a/cfg/sim/scene_33.yaml +++ b/cfg/sim/scene_33.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/flower/flower_pot_021 xyz: [0.0028420579619705677, -0.0011543694417923689, 0.05774705484509468] - rpy: [-0.02421988566111616, -2.825862792326527, 88.85758819777307] + rpy: [88.85897644390711, -0.08053296688329194, 2.8248197013561724] scale: 1.0 - object_id: active_perception/omni_objects/carrot/carrot_040 xyz: [0.0007919211639091372, -0.037084706127643585, 0.03425108268857002] - rpy: [-107.30548465796404, -36.2269456311887, 3.875519468392625] + rpy: [-35.920659316533246, 6.365280372781388, -103.9720943559527] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_037 xyz: [-0.020608294755220413, -0.0010461299680173397, 0.028569726273417473] - rpy: [-14.781560882886483, 56.118394743147725, 84.34049593601237] + rpy: [86.7991967761519, -10.06294061759836, -56.807689371496956] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_028 xyz: [-0.026207365095615387, -0.001541749807074666, 0.016792982816696167] - rpy: [-37.50095519568454, 18.728017210648545, -88.25533720290301] + rpy: [-87.90185054796383, 38.0426297566012, 17.442758859844332] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_029 xyz: [-0.0191760566085577, 0.023274464532732964, 0.01752839796245098] - rpy: [158.38141443207383, -56.6125752938834, 50.32502102590381] + rpy: [-55.911860666280845, 51.18212091545176, -144.69913856511775] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_043 xyz: [0.013395723886787891, -0.006505611352622509, 0.028028352186083794] - rpy: [147.36581636576656, -66.86889696246439, -160.03589392442117] + rpy: [-154.18788319267844, -65.78563287062556, -143.76298722736297] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_031 xyz: [0.006280636414885521, -0.026385212317109108, 0.017772648483514786] - rpy: [55.169311349321156, -65.83327683575607, -172.313675886421] + rpy: [-116.36490563573082, 23.993112851614736, -75.1706464988607] scale: 1.0 diff --git a/cfg/sim/scene_34.yaml b/cfg/sim/scene_34.yaml index 8fbd43e..d8efe72 100644 --- a/cfg/sim/scene_34.yaml +++ b/cfg/sim/scene_34.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_001 xyz: [-9.220093488693237e-08, 3.241002559661865e-07, -0.06014382839202881] - rpy: [-7.802969294478993e-06, -2.4073190535781608e-06, 90.00000482967273] + rpy: [90.00000482967269, -7.80296909644748e-06, 2.4073197024113157e-06] scale: 1.0 - object_id: active_perception/omni_objects/pear/pear_038 xyz: [-0.055946893990039825, -0.17942705750465393, 0.7685343027114868] - rpy: [134.77648183500548, 5.526510859663884, -2.2497941043125285] + rpy: [-2.3411111585323034, -5.488548307496509, 134.77285010050957] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_037 xyz: [-0.243138387799263, -0.16750207543373108, 0.7581920027732849] - rpy: [-70.3637901384168, -4.373957210416267, 34.93994237471697] + rpy: [9.281421349796823, -34.084890511807366, -66.13581880724591] scale: 1.0 - object_id: active_perception/omni_objects/knife/knife_031 xyz: [0.6837254166603088, -0.15869274735450745, 0.7540795207023621] - rpy: [-113.83304280456899, 86.72203587922338, -26.95718146494192] + rpy: [87.07408216002224, 3.1579526230294936, -91.32594566730357] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_120 xyz: [-0.2136208713054657, 0.07222819328308105, 0.7513246536254883] - rpy: [-85.31343444788186, -3.0166480195354817, -1.1267443530284158] + rpy: [-3.098519208976088, 0.8766257981145088, -85.31939412768735] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_111 xyz: [-0.40803012251853943, -0.08944495767354965, 0.7566863894462585] - rpy: [-90.08184372169903, 0.014600245638151514, -0.0006853463892496826] + rpy: [0.014601209720075116, 0.0006644900872227713, -90.08184371904726] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_114 xyz: [-0.6990942358970642, -0.15722723305225372, 0.752764105796814] - rpy: [-90.00208552288508, -0.17653777707412274, -1.4145919495113395] + rpy: [-0.1764862766635894, 1.4145983744049755, -90.00208614877637] scale: 1.0 diff --git a/cfg/sim/scene_35.yaml b/cfg/sim/scene_35.yaml index 1db3fd4..bfd9467 100644 --- a/cfg/sim/scene_35.yaml +++ b/cfg/sim/scene_35.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/flower/flower_pot_023 xyz: [9.04994085431099e-05, -0.001998303458094597, 0.07434101402759552] - rpy: [0.0007521367313888551, -0.08232549546043709, 87.8171495710518] + rpy: [87.81715182354336, -0.0023840800160758006, 0.0822944049037779] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_039 xyz: [0.027859177440404892, 0.0006071220268495381, 0.03238953649997711] - rpy: [134.0928883765494, -24.176799534167415, 150.7771345512473] + rpy: [-143.16310431750205, 5.850309996156513, -129.65131059408503] scale: 1.0 - object_id: active_perception/omni_objects/garlic/garlic_032 xyz: [0.016638923436403275, -0.032250646501779556, 0.0759749785065651] - rpy: [24.863922854138174, 14.413794360376064, 65.01629479631072] + rpy: [62.2711808106882, 28.45777879056491, -1.768304375963296] scale: 1.0 - object_id: active_perception/omni_objects/soap/soap_037 xyz: [0.025980794802308083, 0.024251092225313187, 0.04509377107024193] - rpy: [136.83687121069966, 1.2793404344824917, 172.62944402263523] + rpy: [-175.47737948919067, 5.964280096482725, -137.15500471864803] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_038 xyz: [0.01999835856258869, -0.014499987475574017, 0.03366774320602417] - rpy: [-94.48865212613362, -27.153130488153607, -177.79046519234956] + rpy: [152.76435129944167, 0.1573412324806701, 93.99312033818188] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_045 xyz: [-0.008520111441612244, -0.003114726161584258, 0.033273953944444656] - rpy: [166.55890958090072, 74.9643273074888, 110.39350930929714] + rpy: [-96.1905287510967, 33.037934956191684, 107.51649048170793] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_061 xyz: [0.004855289589613676, 0.031957898288965225, 0.038604170083999634] - rpy: [-68.58932674462518, -3.0517506626575504, 89.36268553582488] + rpy: [88.25448025724964, -68.61422969543409, 1.4265378184804396] scale: 1.0 diff --git a/cfg/sim/scene_36.yaml b/cfg/sim/scene_36.yaml index e623158..cbbf455 100644 --- a/cfg/sim/scene_36.yaml +++ b/cfg/sim/scene_36.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/cabinet/cabinet_009 xyz: [0.006613242439925671, -0.009521248750388622, 0.4033784568309784] - rpy: [0.12608755693060691, -0.9603402928105148, 88.61155556777636] + rpy: [88.61174839819006, 0.10278205806176542, 0.9631131318626268] scale: 1.0 - object_id: active_perception/omni_objects/soap/soap_037 xyz: [0.19723746180534363, -0.04880416765809059, 0.8572527170181274] - rpy: [-73.39091606081678, 0.2288187552853853, 96.58695938967814] + rpy: [112.02829007124932, -72.1912189145646, 20.837006818382463] scale: 1.0 - object_id: active_perception/omni_objects/pear/pear_039 xyz: [0.15307432413101196, -0.026445679366588593, 0.8817943334579468] - rpy: [-61.93689004005149, 26.291271408436458, 43.88260039017374] + rpy: [43.246886669287186, -27.48368995968836, -61.612339337388455] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_045 xyz: [0.0383366234600544, 0.07386764883995056, 0.8674019575119019] - rpy: [59.031596078492775, 74.63992365152517, 84.64406686553255] + rpy: [86.74791433653112, 64.16106523916234, -71.77628913182404] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_104 xyz: [-0.13109463453292847, -0.11915754526853561, 0.8624886870384216] - rpy: [-89.22865564340965, -5.824645543416764, -6.530071217398856] + rpy: [-5.91194291776957, 6.4512061626473995, -89.22774794904043] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_041 xyz: [0.11868615448474884, -0.12912902235984802, 0.8723306059837341] - rpy: [50.185698391578796, -74.5073105586973, -97.67591040629462] + rpy: [-92.78500334435385, -42.75179339059352, -76.53087889920421] scale: 1.0 - object_id: active_perception/omni_objects/tomato/tomato_029 xyz: [0.1460922211408615, 0.1321875900030136, 0.8888135552406311] - rpy: [-106.65805919519741, -13.399136384066964, 56.932281542304786] + rpy: [-34.247691108951464, -50.05053665607619, -115.73948828177204] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_052 xyz: [-0.11937824636697769, 0.06286828219890594, 0.8905937075614929] - rpy: [-74.8873561647739, 54.75519229867925, -3.6881109642641516] + rpy: [53.20912227727255, 15.937344659355736, -80.99812568750463] scale: 1.0 diff --git a/cfg/sim/scene_37.yaml b/cfg/sim/scene_37.yaml index 8a00543..04bf144 100644 --- a/cfg/sim/scene_37.yaml +++ b/cfg/sim/scene_37.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_005 xyz: [-1.208973117172718e-07, 0.0, 0.010999977588653564] - rpy: [-3.1310917976400186e-05, -5.198184491248657e-06, 89.9998647691643] + rpy: [89.9998647691643, -3.1310930257678665e-05, 5.198110587880079e-06] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_042 xyz: [0.1077878400683403, 0.12241704761981964, 0.11737146973609924] - rpy: [43.955873031885446, -14.671800950178215, -19.82887550660323] + rpy: [-4.94949626531639, -24.01458902593339, 40.32442145787409] scale: 1.0 - object_id: active_perception/omni_objects/walnut/walnut_038 xyz: [0.12384489923715591, 0.0854213684797287, 0.44839659333229065] - rpy: [-89.35867106337258, -7.186961536837509, -2.110582560268944] + rpy: [-7.209963748930952, 2.030218975794047, -89.36331038806878] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_065 xyz: [-0.028945425525307655, 0.08007828146219254, 0.13590463995933533] - rpy: [-114.05247086608534, 68.16674079708537, 68.15714017045055] + rpy: [-24.4541093844386, -81.25664857169846, 175.6918007713984] scale: 1.0 - object_id: active_perception/omni_objects/soap/soap_037 xyz: [-0.04376954957842827, 0.1326463371515274, 0.11002542078495026] - rpy: [-69.3117193284979, 7.200648033848471, -86.12299207196212] + rpy: [-78.98259279504832, 69.45053680560366, -3.114966823016006] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_067 xyz: [0.05380183458328247, 0.16606707870960236, 0.10901172459125519] - rpy: [-89.94508587288485, 0.06469163722039832, -1.305400592268318] + rpy: [0.0634402538137194, 1.3054619951332833, -89.94507165079108] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_047 xyz: [-0.0789538100361824, 0.20966367423534393, 0.44687551259994507] - rpy: [140.3988953421588, 66.7242994364941, -139.1880368619215] + rpy: [107.53092806210813, 6.839171790074246, -107.85746287970163] scale: 1.0 diff --git a/cfg/sim/scene_38.yaml b/cfg/sim/scene_38.yaml index 7370e36..7239fc5 100644 --- a/cfg/sim/scene_38.yaml +++ b/cfg/sim/scene_38.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_003 xyz: [5.00003807246685e-08, 1.043081283569336e-07, -0.05977308750152588] - rpy: [5.442593521285084e-06, 7.638479790208606e-07, 90.0000048296726] + rpy: [90.00000482967259, 5.442593465134816e-06, -7.63848424298516e-07] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_031 xyz: [-0.5781857967376709, -0.04313921183347702, 1.141689658164978] - rpy: [-95.3846952337335, 15.885095005023825, -1.507829116592635] + rpy: [15.954634699943883, 0.029840445354346545, -95.17849512087187] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_119 xyz: [-0.210454523563385, -0.016373546794056892, 1.141706109046936] - rpy: [-90.00023547768144, 0.29590770675539974, 1.328414669676981] + rpy: [0.29590224624776573, -1.3284158857998585, -90.00023553784547] scale: 1.0 - object_id: active_perception/omni_objects/corn/corn_029 xyz: [-0.5411771535873413, -0.1043897271156311, 1.1588128805160522] - rpy: [-91.32227345234962, -24.913310810983315, -2.438126611331454] + rpy: [-24.8563980924281, 2.9945544235769184, -91.2008519559379] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_056 xyz: [0.0854501724243164, 0.020426146686077118, 1.167594313621521] - rpy: [-92.61721486604681, -31.454427717319902, -0.21375060212375732] + rpy: [-31.419484271013587, 1.5789582351581324, -92.23326634807691] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_110 xyz: [-0.06631174683570862, 0.038029201328754425, 0.1315489560365677] - rpy: [-87.97657685784142, -5.205862135193655, -2.4581883145615144] + rpy: [-5.289111819908955, 2.2731110744014917, -87.98333915755961] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_057 xyz: [0.06270138174295425, -0.04442468658089638, 1.1657730340957642] - rpy: [91.04472625108507, -60.25089944992125, 177.14846669381444] + rpy: [-119.72739837729712, 1.9443907137055154, -90.51867316065851] scale: 1.0 diff --git a/cfg/sim/scene_39.yaml b/cfg/sim/scene_39.yaml index 804e7f3..79f3c16 100644 --- a/cfg/sim/scene_39.yaml +++ b/cfg/sim/scene_39.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/table/table_027 xyz: [0.00010699592530727386, -0.001040428876876831, 0.4481426179409027] - rpy: [-0.00021596312904110745, -0.01376289993694413, 89.86887920360526] + rpy: [89.86887920738685, -0.0002474587892975529, 0.013762369668608304] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_045 xyz: [-0.15600375831127167, -0.3234883248806, 0.7927082180976868] - rpy: [-114.40002252009593, -64.49377586309582, 23.52744668571259] + rpy: [-66.73994913730853, -1.2426176170223575, -100.24912644836185] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_038 xyz: [-0.08556875586509705, -0.22283858060836792, 0.7839670181274414] - rpy: [-95.7213221593797, 13.751132333765685, 21.73652522190826] + rpy: [11.452131030069884, -22.985992162567157, -96.03778261616552] scale: 1.0 - object_id: active_perception/omni_objects/tomato/tomato_028 xyz: [-0.1160791888833046, -0.06806221604347229, 0.7847705483436584] - rpy: [-42.690745021522616, 69.92034678675974, 80.29145444472985] + rpy: [86.01878676207615, -33.498332127147584, -72.38513562973833] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_049 xyz: [0.20025092363357544, -0.41051578521728516, 0.7907444834709167] - rpy: [-92.18048111422145, -35.07730997754105, 9.27581165170745] + rpy: [-35.34826621870716, -8.018409408360377, -91.8019368001209] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_039 xyz: [0.06475533545017242, -0.4073522686958313, 0.7823901772499084] - rpy: [-117.52387561010707, -82.89475771410906, 108.19892341698414] + rpy: [-103.24224005915914, -80.2909693401944, -109.81230665820414] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_041 xyz: [0.15961599349975586, -0.28698602318763733, 0.8091489672660828] - rpy: [-89.9796335085015, 5.770621462049354, 80.70515515225573] + rpy: [5.8944042120754165, -80.7030854912163, -89.87457002143212] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_116 xyz: [-0.16338872909545898, -0.21233633160591125, 0.7834504842758179] - rpy: [-89.63025430983015, -1.4727566470727098, -3.4984490708812253] + rpy: [-1.4953227098039146, 3.488873185165846, -89.62969012496141] scale: 1.0 diff --git a/cfg/sim/scene_4.yaml b/cfg/sim/scene_4.yaml index 96fd1bb..04d4fcb 100644 --- a/cfg/sim/scene_4.yaml +++ b/cfg/sim/scene_4.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/picnic/picnic_basket_010 xyz: [-0.0021468535996973515, -0.004557723645120859, 0.08212780207395554] - rpy: [-0.05356910547753597, 1.9323693313409611, 85.9572085827448] + rpy: [85.95950721199279, 0.08277325298057439, -1.9313391668475821] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_105 xyz: [-0.03673325851559639, -0.03243739530444145, 0.03260248154401779] - rpy: [-160.90597882751862, 3.1901907871913733, 5.412017192305009] + rpy: [-4.085897698767339, -4.77294911484183, -161.2271542970301] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_041 xyz: [0.04713554307818413, -0.015210438519716263, 0.04173722118139267] - rpy: [-163.70433663387016, -71.05088841469548, 59.404295298346135] + rpy: [-80.24410950028161, 12.739871140233145, -108.6356933912554] scale: 1.0 - object_id: active_perception/omni_objects/lemon/lemon_032 xyz: [0.005444257520139217, -0.018016818910837173, 0.06918787211179733] - rpy: [69.69401180300784, 72.23174835704576, -93.5898003364966] + rpy: [-93.76404173546614, -73.07856780473101, 68.66290966068034] scale: 1.0 - object_id: active_perception/omni_objects/waffle/waffle_041 xyz: [0.005476006772369146, 0.03250156715512276, 0.0683291107416153] - rpy: [-89.12861895640738, 26.632062973536552, 104.28119806728803] + rpy: [-156.5117291075046, -76.0880373693053, 86.75866622896146] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_113 xyz: [0.011690882034599781, -0.043580614030361176, 0.03638513386249542] - rpy: [86.06680338315526, -13.326025001342492, 173.16679359710162] + rpy: [-167.16348548997013, 7.723758143175776, -86.13777525636239] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_030 xyz: [0.06836505979299545, 0.0027577835135161877, 0.04202727973461151] - rpy: [-1.7419376184448039, 71.96794520204386, 77.58796847248838] + rpy: [86.12542479950159, 10.05546639885061, -71.68549224203838] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_122 xyz: [-0.026931222528219223, 0.007508337497711182, 0.037584200501441956] - rpy: [-10.869289787340987, -1.0031710332102788, 8.84014643777508] + rpy: [8.500340791571972, -2.6347222845026357, -10.595908583223762] scale: 1.0 diff --git a/cfg/sim/scene_40.yaml b/cfg/sim/scene_40.yaml index c1fd716..5ed812e 100644 --- a/cfg/sim/scene_40.yaml +++ b/cfg/sim/scene_40.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/flower/flower_pot_023 xyz: [-0.0009841498686000705, -0.0010612158803269267, -0.0018193746218457818] - rpy: [3.311147111463288, -0.4345033267475731, 88.89379786774929] + rpy: [88.89198978309004, 3.3021410625532575, 0.4984151148161277] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_029 xyz: [-0.027134522795677185, 0.014114820398390293, -0.04264287278056145] - rpy: [-23.558042920079863, -15.462861610763158, -88.37954891494789] + rpy: [-88.30183095563139, 23.116811788759062, -16.13562993198955] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_045 xyz: [-0.03428728133440018, 0.0075537958182394505, -0.012466422282159328] - rpy: [-11.536347870620695, 29.140260375744298, -47.61688424272205] + rpy: [-48.1821472677412, 27.99126454253973, 14.266914356346334] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_041 xyz: [0.009722218848764896, 0.018718324601650238, -0.04549923166632652] - rpy: [-110.91831281588746, 22.87442036673765, -74.63938673376656] + rpy: [61.0090484140714, 59.764100049387935, -130.7882006412348] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_061 xyz: [-0.01676907017827034, -0.03211698681116104, -0.04650091752409935] - rpy: [72.98012815711772, 20.656473148169777, -1.766517099673224] + rpy: [-20.311367380698243, 4.228232513364831, 74.05981897188667] scale: 1.0 - object_id: active_perception/omni_objects/waffle/waffle_041 xyz: [0.010431341826915741, -0.014286238700151443, -0.000989236868917942] - rpy: [-48.62515310702935, -39.332059787438986, 22.95980920232018] + rpy: [-14.190902820346004, -42.72430866700578, -45.897360608500655] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_038 xyz: [0.004841041751205921, -0.017103398218750954, -0.041343312710523605] - rpy: [139.5907933423611, -68.00933300702582, -151.2630685788612] + rpy: [-153.88466871782472, -68.5513435244522, -141.2362293374486] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_040 xyz: [-0.02791927382349968, -0.013032225891947746, -0.03956935554742813] - rpy: [-177.02365957355144, 46.02687951108614, 34.416298306857136] + rpy: [-42.972433469846095, -38.479645363572175, 152.34288816363855] scale: 1.0 diff --git a/cfg/sim/scene_41.yaml b/cfg/sim/scene_41.yaml index 731a2f1..5b59f8c 100644 --- a/cfg/sim/scene_41.yaml +++ b/cfg/sim/scene_41.yaml @@ -5,30 +5,30 @@ objects: - object_id: active_perception/omni_objects/sofa/sofa_014 xyz: [-0.025585917755961418, 0.003834121860563755, 0.3471461534500122] - rpy: [-0.041821097576549185, 4.374075816986653, 90.60810340893191] + rpy: [90.60633287638903, -0.08819665497977904, -4.373387853895643] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_063 xyz: [0.3229166269302368, 0.175261989235878, 0.41336315870285034] - rpy: [-70.91822911282091, 68.80031396197346, 20.26453223002884] + rpy: [70.15190891693476, -2.372499304205413, -83.20478397859237] scale: 1.0 - object_id: active_perception/omni_objects/pear/pear_035 xyz: [0.4137435257434845, 0.0207673292607069, 0.411308228969574] - rpy: [-112.37204232499069, 6.663967661182197, -76.7263414446688] + rpy: [60.00588570789653, 62.85890429036961, -145.96734935372018] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_061 xyz: [0.4478986859321594, -0.1251043975353241, 0.39752569794654846] - rpy: [-99.07503217111156, 1.9211743346813532, 13.461261032685417] + rpy: [-0.2665399739273817, -13.59259308109541, -99.33354609159332] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_056 xyz: [0.02616669423878193, -0.04531857371330261, 0.3971235454082489] - rpy: [19.42687150826003, 16.578242155620554, -165.37891389949786] + rpy: [-171.03961976454113, -20.140522267821783, -15.690897695210682] scale: 1.0 - object_id: active_perception/omni_objects/knife/knife_031 xyz: [0.2902570068836212, 0.051976531744003296, 0.4043921232223511] - rpy: [10.214654629351609, -80.13323649138277, -172.15758055868673] + rpy: [-118.9114173291099, 69.44371358136875, -61.295901073587146] scale: 1.0 diff --git a/cfg/sim/scene_42.yaml b/cfg/sim/scene_42.yaml index 096954e..a81410a 100644 --- a/cfg/sim/scene_42.yaml +++ b/cfg/sim/scene_42.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/flower/flower_pot_021 xyz: [0.002883946755900979, -0.0011466757860034704, 0.05773858726024628] - rpy: [0.09684758124903939, -2.7910283729289276, 88.86080444614755] + rpy: [88.86215567056358, 0.041360857815577655, 2.7924007675356064] scale: 1.0 - object_id: active_perception/omni_objects/lipstick/lipstick_028 xyz: [0.004402879159897566, -0.004752270877361298, 0.020321086049079895] - rpy: [70.69885833792357, -73.94986470530907, -168.14121086873988] + rpy: [-105.80987679631541, 6.7143479932006676, -84.72038102427997] scale: 1.0 - object_id: active_perception/omni_objects/walnut/walnut_039 xyz: [0.005546616390347481, -0.030415553599596024, 0.028851404786109924] - rpy: [-91.91889537160547, -33.88068226435319, 18.183292379006467] + rpy: [-34.38595066918567, -17.106481610763907, -91.66673095725825] scale: 1.0 - object_id: active_perception/omni_objects/tomato/tomato_028 xyz: [-0.018716339021921158, -0.0025207391008734703, 0.04256464168429375] - rpy: [-178.02431519004037, 83.37794025490719, -78.5125861717017] + rpy: [88.66596940665447, -9.434595826928696, -96.70926807327774] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_041 xyz: [-0.023429052904248238, -0.030177179723978043, 0.08250382542610168] - rpy: [-150.5606249308405, -29.417739938612442, -169.9092401792252] + rpy: [155.53110810317978, -19.573723582774605, 143.6212236547698] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_038 xyz: [0.03088737092912197, -0.0074947127141058445, 0.044958360493183136] - rpy: [-120.89228726490478, 13.84198641362346, -125.64412344069348] + rpy: [152.25789089722332, 50.25935647783351, 141.23923768019472] scale: 1.0 - object_id: active_perception/omni_objects/walnut/walnut_037 xyz: [0.025411123409867287, 0.021386146545410156, 0.03062313422560692] - rpy: [-67.5022217575223, -32.93361394893601, 81.1813179455983] + rpy: [66.86241672154435, -70.88542013678011, 11.258773814590226] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_061 xyz: [0.04272650182247162, 0.0072078825905919075, 0.03567451983690262] - rpy: [13.883352452936737, -5.2132094752533895, 142.87176751269084] + rpy: [144.39308259322473, 12.424825008545831, -8.127393454244784] scale: 1.0 diff --git a/cfg/sim/scene_43.yaml b/cfg/sim/scene_43.yaml index 736c1e9..c480347 100644 --- a/cfg/sim/scene_43.yaml +++ b/cfg/sim/scene_43.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_001 xyz: [-9.043142199516296e-07, -8.642673492431641e-07, 0.016625702381134033] - rpy: [-1.566378876035886e-05, 4.895337608644847e-06, 90.00001931869036] + rpy: [90.00001931869036, -1.5663790396106908e-05, -4.895332316201857e-06] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_116 xyz: [0.3453865945339203, -0.22342710196971893, 0.4703914225101471] - rpy: [-72.23347068659766, 2.065125200327984, 175.29657823111512] + rpy: [-179.4718930502988, -5.108735273309998, 72.1722105284982] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_061 xyz: [-0.41950568556785583, -0.056041132658720016, 0.49279364943504333] - rpy: [-71.0108388931684, 75.18730162331373, 6.596427314754241] + rpy: [74.9646017153005, 11.763317497559962, -85.12549097849676] scale: 1.0 - object_id: active_perception/omni_objects/waffle/waffle_042 xyz: [-0.3934590816497803, 0.05332218483090401, 0.48099663853645325] - rpy: [53.21807762377857, 84.83880892284897, 96.71033227664945] + rpy: [90.87547936821878, 46.53136570229832, -85.5093796817296] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_054 xyz: [0.6275076270103455, -0.191462904214859, 0.49639326333999634] - rpy: [-90.16644570764751, 61.49017321959278, -1.2451177327569494] + rpy: [61.49179847681286, 1.098854869952065, -90.07946064086325] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_043 xyz: [0.021427584812045097, -0.031046735122799873, 0.47633904218673706] - rpy: [-95.76861232292471, -81.10295998848093, -80.80716665799598] + rpy: [-66.86021312436378, 86.39519783052793, -104.31424749272354] scale: 1.0 - object_id: active_perception/omni_objects/walnut/walnut_037 xyz: [-0.08802803605794907, -0.17063580453395844, 0.48364877700805664] - rpy: [-41.22352326873257, -75.96715071663306, -59.23442182044925] + rpy: [-82.73777499886002, 11.12766034141171, -79.28796112633479] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_039 xyz: [-0.7640525102615356, 0.01671159639954567, 0.4906308948993683] - rpy: [-61.507278454203046, 28.057819582239755, 87.70141960578768] + rpy: [85.89569149493903, -60.36246403781887, -31.64580548089116] scale: 1.0 diff --git a/cfg/sim/scene_44.yaml b/cfg/sim/scene_44.yaml index af18f20..f44b349 100644 --- a/cfg/sim/scene_44.yaml +++ b/cfg/sim/scene_44.yaml @@ -5,30 +5,30 @@ objects: - object_id: active_perception/omni_objects/table/table_028 xyz: [1.2656086683273315, 1.755468487739563, 0.39536169171333313] - rpy: [4.321900138802651, -1.8182459578801937, 98.87883537259145] + rpy: [98.90262040146929, 4.550638099978829, 1.128244991931811] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_105 xyz: [-0.04144570976495743, 0.062466323375701904, 0.0766308531165123] - rpy: [-86.93404308515511, 1.9614343552060274, -5.411403531579633] + rpy: [1.6684549930428503, 5.508530344344257, -86.92161131780023] scale: 1.0 - object_id: active_perception/omni_objects/cup/cup_034 xyz: [-0.1094745621085167, 0.10516357421875, 0.10798276215791702] - rpy: [-89.69151615471857, -8.79739141887526, -0.5212016532801754] + rpy: [-8.800039114806054, 0.47401471856136157, -89.69513496179196] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_120 xyz: [0.07914374023675919, -0.06567899882793427, 0.06600769609212875] - rpy: [25.035829437599553, -3.479021974967483, 1.1767406121471067] + rpy: [2.5407118075705495, -2.6525472053039985, 25.130399882333897] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_108 xyz: [0.031323838979005814, -0.39695924520492554, 0.0736481323838234] - rpy: [-155.0608290923892, 1.9893637045767305, 3.6182757349964065] + rpy: [-2.446590585598489, -3.326431514332084, -155.19472308364675] scale: 1.0 - object_id: active_perception/omni_objects/ginger/ginger_036 xyz: [-0.10457862168550491, -0.13927437365055084, 0.06929392367601395] - rpy: [-95.51955383862781, -2.1642029577852955, -1.212715266183147] + rpy: [-2.037587878778863, 1.4152149330147945, -95.5172927357659] scale: 1.0 diff --git a/cfg/sim/scene_45.yaml b/cfg/sim/scene_45.yaml index d632973..9d7b99e 100644 --- a/cfg/sim/scene_45.yaml +++ b/cfg/sim/scene_45.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/table/table_027 xyz: [6.68596476316452e-05, -0.0006351470947265625, 0.46528860926628113] - rpy: [-1.1306138333030988e-06, -0.008433913286327182, 89.9197501504208] + rpy: [89.91975015129022, -1.2943351039303872e-05, 0.008433903430157168] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_120 xyz: [0.13768936693668365, 0.35872602462768555, 0.7977656126022339] - rpy: [-90.11393161729657, -5.075292413151635, -2.307121434593314] + rpy: [-5.070710248397019, 2.3171958339602012, -90.11357779781879] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_039 xyz: [-0.15816110372543335, 0.33112144470214844, 0.7934280633926392] - rpy: [-82.28489766138023, -84.83113149322313, 77.89080902182889] + rpy: [-75.99488665621924, -85.52108704222161, -81.09044183716523] scale: 1.0 - object_id: active_perception/omni_objects/cup/cup_035 xyz: [-0.09936236590147018, -0.3526317775249481, 0.8341895341873169] - rpy: [-89.93588641775304, 4.450575494674277, 3.806915632707848] + rpy: [4.454826022136179, -3.8019381045766094, -89.93593875878007] scale: 1.0 - object_id: active_perception/omni_objects/garlic/garlic_032 xyz: [-0.02842695079743862, -0.2235516905784607, 0.8002589344978333] - rpy: [-89.29167419807145, 14.684528455886733, 7.316020206831069] + rpy: [14.7713874869955, -7.135940411283522, -89.30946289263692] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_129 xyz: [0.15347221493721008, -0.25780677795410156, 0.7957563996315002] - rpy: [-86.62791329733025, 18.43021322459902, 9.55011810448806] + rpy: [18.936865883497216, -8.46961051941971, -86.76574507258015] scale: 1.0 - object_id: active_perception/omni_objects/knife/knife_031 xyz: [0.1753956526517868, 0.3945608139038086, 0.8006248474121094] - rpy: [-97.40533168993265, 83.89801794483455, -14.42795491545752] + rpy: [84.04581014165996, 7.063451657319638, -90.79101390918686] scale: 1.0 - object_id: active_perception/omni_objects/ginger/ginger_039 xyz: [-0.13511021435260773, 0.23208719491958618, 0.805314302444458] - rpy: [-90.41683809305475, -2.833537377995215, 1.9196941149734208] + rpy: [-2.8474165231353563, -1.8990374579228209, -90.41655723501182] scale: 1.0 diff --git a/cfg/sim/scene_46.yaml b/cfg/sim/scene_46.yaml index 881daa5..4d6ac73 100644 --- a/cfg/sim/scene_46.yaml +++ b/cfg/sim/scene_46.yaml @@ -5,20 +5,20 @@ objects: - object_id: active_perception/omni_objects/cabinet/cabinet_009 xyz: [0.006895285099744797, -0.009901405312120914, 0.41437849402427673] - rpy: [0.02203105638084612, -0.9603624096756689, 88.61150596294047] + rpy: [88.61170104313348, -0.0012452671963751926, 0.96061424586726] scale: 1.0 - object_id: active_perception/omni_objects/garlic/garlic_032 xyz: [0.044511351734399796, -0.0606166273355484, 0.8758591413497925] - rpy: [-115.77862667791833, -2.0097485354487197, 1.795410290020289] + rpy: [-2.5902687296795555, -0.7430674132119086, -115.76393197164248] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_062 xyz: [0.16271893680095673, 0.04041002318263054, 0.8998929858207703] - rpy: [-17.27603773362151, 71.01849006477921, 107.34091665120872] + rpy: [96.67984611893803, -33.54633964018034, -68.12028732984554] scale: 1.0 - object_id: active_perception/omni_objects/soap/soap_037 xyz: [-0.12293203175067902, 0.04082437604665756, 0.8772732019424438] - rpy: [-156.04537103318202, 1.2692776003347226, 96.9450133651313] + rpy: [-97.58145050438513, -23.614835293615798, 175.66935822478314] scale: 1.0 diff --git a/cfg/sim/scene_47.yaml b/cfg/sim/scene_47.yaml index 219d698..9e1dfa6 100644 --- a/cfg/sim/scene_47.yaml +++ b/cfg/sim/scene_47.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/flower/flower_pot_022 xyz: [0.001758703961968422, -7.425341755151749e-05, -0.002146119251847267] - rpy: [-0.4191507089107841, -1.4685234489335728, 89.72893038792856] + rpy: [89.72901192656708, -0.42609290293498775, 1.4665246168183086] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_037 xyz: [0.0026958035305142403, 0.02326364442706108, -0.030059557408094406] - rpy: [-27.295557986576508, -74.97466484424343, 140.92433817484456] + rpy: [102.55113774844398, 22.16179821087101, 75.59600475232162] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_041 xyz: [0.033399295061826706, -0.022959113121032715, -0.03317974507808685] - rpy: [-121.76155493312352, -41.01988001355419, 108.77851556616153] + rpy: [-127.30791285665153, -66.37679204905747, -172.34419631145494] scale: 1.0 - object_id: active_perception/omni_objects/soap/soap_037 xyz: [-0.008459504693746567, -0.024805845692753792, -0.045274220407009125] - rpy: [-112.73943379630393, -23.678772804379257, 90.93010462204539] + rpy: [-92.23753048770976, -67.61874921068949, -158.38758161954354] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_030 xyz: [0.02824709564447403, -0.010435623116791248, -0.04325352609157562] - rpy: [-89.15471116597048, 73.82622667066161, 157.61862337083952] + rpy: [-106.27298524231306, -23.19300731612382, 89.74385011566271] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_037 xyz: [0.02313343994319439, -0.029546480625867844, -0.04483957588672638] - rpy: [33.84140274323915, -61.821662688603524, -108.59174170007842] + rpy: [-99.0638928558056, -17.122165615136286, -65.76972236388579] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_042 xyz: [-0.02659083716571331, -0.010209866799414158, -0.026950538158416748] - rpy: [-9.233561289183251, 52.02517070111123, 54.44365043491839] + rpy: [67.79482618127341, 18.778337755719072, -50.097134753184356] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_045 xyz: [-0.010948993265628815, -0.025674428790807724, -0.021909866482019424] - rpy: [140.6479228697653, -62.40347378955217, -162.0799235240837] + rpy: [-146.04868442204778, -57.90267885624188, -132.38716129542675] scale: 1.0 diff --git a/cfg/sim/scene_48.yaml b/cfg/sim/scene_48.yaml index 777873c..3800c9b 100644 --- a/cfg/sim/scene_48.yaml +++ b/cfg/sim/scene_48.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/table/table_026 xyz: [-0.0044702282175421715, 0.0044686985202133656, 0.44241854548454285] - rpy: [0.006296298673915083, 0.6776364504557759, 90.67761748993806] + rpy: [90.67757009682272, -0.0017179413406476563, -0.6776635222070335] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_047 xyz: [0.0022012849804013968, 0.07525483518838882, 0.7675420045852661] - rpy: [-122.23251736682691, 13.056506101919059, 13.540627951427414] + rpy: [3.679723099745069, -18.37257545635449, -123.19391709572352] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_105 xyz: [-0.03389284014701843, -0.06925743073225021, 0.7622761726379395] - rpy: [-92.3176433111517, -2.7917976372376523, 0.06437706314831079] + rpy: [-2.7921178171427186, 0.04852971146202436, -92.31489187968354] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_045 xyz: [0.07674913853406906, -0.044651228934526443, 0.0713404193520546] - rpy: [56.91423779742621, -89.99993765698301, 145.3445885847524] + rpy: [-90.00013535932963, 67.74117361900845, -89.99991017140813] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_043 xyz: [0.01913430355489254, -0.10978591442108154, 0.7653334140777588] - rpy: [150.58573874163335, -81.79619015922997, 55.53038236109078] + rpy: [-79.66901938030742, 63.23469105627316, -106.02256660044505] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_058 xyz: [-0.05013816058635712, 0.11647016555070877, 0.8126592040061951] - rpy: [-85.80710467691364, 24.56238147475987, 1.9589739163329685] + rpy: [24.63468254672115, -0.21300527015563925, -86.18708577203459] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_128 xyz: [-0.08240906149148941, -0.05729241669178009, 0.059984225779771805] - rpy: [-89.74202719211155, -6.558774161991819, -4.817228487534269] + rpy: [-6.580305669717449, 4.78771401941225, -89.74281821159799] scale: 1.0 diff --git a/cfg/sim/scene_49.yaml b/cfg/sim/scene_49.yaml index a202e65..2b009c6 100644 --- a/cfg/sim/scene_49.yaml +++ b/cfg/sim/scene_49.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/flower/flower_pot_023 xyz: [9.079067967832088e-05, -0.0022134720347821712, 0.06871500611305237] - rpy: [0.0032774625212650256, -0.08231252697793963, 87.81716688836597] + rpy: [87.81716914201355, 0.00013993215502209493, 0.08237763209565609] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_037 xyz: [-0.010266662575304508, -0.0329284593462944, 0.027519654482603073] - rpy: [-17.796913501836716, 46.270863038832616, -12.713963701918168] + rpy: [0.5009560337690772, 47.59809432654102, -12.56730601154548] scale: 1.0 - object_id: active_perception/omni_objects/garlic/garlic_033 xyz: [-0.016399698331952095, 0.02355862408876419, 0.02858392894268036] - rpy: [-48.57732637463758, 8.892370164400901, -0.8863282595330179] + rpy: [6.10520058088244, 6.537741390134826, -48.857431979459555] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_041 xyz: [0.0028914439026266336, -0.02773580700159073, 0.04599533975124359] - rpy: [-53.4405438916531, 6.502942071079692, -46.95628435893354] + rpy: [-28.826537999012466, 39.27768817890815, -40.13346858868777] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_038 xyz: [-0.010832414031028748, -0.01864032819867134, 0.03838477283716202] - rpy: [124.43968663758206, 17.736204240146694, 63.249756878763414] + rpy: [-55.25500800477348, 41.21701830255771, 135.73273321902428] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_041 xyz: [-0.034411292523145676, -0.0006848811754025519, 0.028391247615218163] - rpy: [-68.36344900672019, 3.4036462434954364, -169.10187892637393] + rpy: [-172.79595920257862, 8.873080587434275, 68.12854805887275] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_038 xyz: [0.026748966425657272, -0.002358307596296072, 0.028200604021549225] - rpy: [-45.12616097025427, -72.93957021502993, -165.0273727982072] + rpy: [120.97299902974169, 56.58351977522202, 67.92253907765608] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_029 xyz: [0.02137848548591137, 0.02047125995159149, 0.025184256955981255] - rpy: [-121.98450732439093, 47.04375282824774, 97.1986012648012] + rpy: [-98.05604344592383, -52.45994889631877, 126.32669114776549] scale: 1.0 diff --git a/cfg/sim/scene_5.yaml b/cfg/sim/scene_5.yaml index 9704ea9..9c5ab45 100644 --- a/cfg/sim/scene_5.yaml +++ b/cfg/sim/scene_5.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/chair/chair_029 xyz: [0.0010277070105075836, -0.013396093621850014, 0.47130998969078064] - rpy: [0.48685294697889697, -0.2507679729392742, 88.58330063786765] + rpy: [88.58326437921104, 0.48050427379070004, 0.2627282167375067] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_104 xyz: [0.2187902182340622, -0.0509926900267601, 0.4545026123523712] - rpy: [-123.99941296553573, -4.679259498585632, -5.364989949670604] + rpy: [-0.8690103688335078, 7.061386351592766, -124.1651508831254] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_126 xyz: [0.1559314876794815, -0.006891753524541855, 0.4527031183242798] - rpy: [-79.48803655310087, -1.2238751611185845, 0.2985886379205077] + rpy: [-1.1488760318807485, -0.516847841036918, -79.49002944054695] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_040 xyz: [0.09979255497455597, 0.04647274687886238, 0.4581356942653656] - rpy: [-41.66629293730251, -84.53199246968798, 155.0048114614722] + rpy: [95.38951458926756, 23.14640180133844, 85.55994085358218] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_061 xyz: [0.25329744815826416, 0.12898185849189758, 0.4568517804145813] - rpy: [-90.0326895545478, -1.4248119975488942, 0.26489360860661576] + rpy: [-1.42496285256958, -0.2640807365981795, -90.03267979456615] scale: 1.0 - object_id: active_perception/omni_objects/tomato/tomato_030 xyz: [0.12168040871620178, -0.04139251261949539, 0.4774993360042572] - rpy: [-82.0490124388834, 2.349723781088601, 51.58218623346694] + rpy: [12.144734927620476, -50.573893134441136, -77.43044226491806] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_110 xyz: [0.163521870970726, -0.07972187548875809, 0.44758814573287964] - rpy: [-79.85039753575236, -5.220967424900503, -3.844962441537209] + rpy: [-5.8148905400598565, 2.866455291684805, -79.88015483606917] scale: 1.0 - object_id: active_perception/omni_objects/tomato/tomato_029 xyz: [0.1844605654478073, 0.0394318625330925, 0.4837464690208435] - rpy: [-125.04306332503516, -59.17928790583905, 40.22384890411431] + rpy: [-66.68363301528215, -8.755214665452236, -107.31696545536691] scale: 1.0 diff --git a/cfg/sim/scene_50.yaml b/cfg/sim/scene_50.yaml index 495c308..38c8e94 100644 --- a/cfg/sim/scene_50.yaml +++ b/cfg/sim/scene_50.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/sofa/sofa_013 xyz: [-0.003246061969548464, -0.003691340796649456, 0.35076379776000977] - rpy: [0.0013732067827766478, 0.5148422409611048, 89.41328904977921] + rpy: [89.41331273280474, 0.006644975749456691, -0.5148011890132356] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_037 xyz: [-0.02333688549697399, -0.4782240688800812, 0.39501896500587463] - rpy: [-173.603734384153, -57.001674556453004, 85.50667079928544] + rpy: [-87.55206648241646, -2.6230874315314585, -122.80571713998215] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_045 xyz: [0.04740513116121292, -0.10784894227981567, 0.388706237077713] - rpy: [-79.64632635540059, 31.05030703126673, 14.789345626321651] + rpy: [32.928638427843836, -9.292853373544078, -81.02406125759929] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_041 xyz: [0.11089237779378891, 0.33133822679519653, 0.38071608543395996] - rpy: [-101.35683963274792, 15.763256532856161, -79.08322032103304] + rpy: [53.21841039599089, 72.27829969248921, -128.50567234890286] scale: 1.0 - object_id: active_perception/omni_objects/soap/soap_037 xyz: [0.21288235485553741, -0.15956145524978638, 0.38425374031066895] - rpy: [-79.78553445353471, 12.954651671326511, -85.60461208775023] + rpy: [-64.96348538013615, 79.83485206821227, -11.699132160562758] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_125 xyz: [0.1104183942079544, -0.0906282290816307, 0.374197781085968] - rpy: [-103.00544678147016, -0.970319373103763, -1.3335526366742443] + rpy: [-0.6452876597080318, 1.5177000787016008, -103.00819253824072] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_051 xyz: [0.23015326261520386, -0.10084830969572067, 0.4005283713340759] - rpy: [-84.74962057288542, -66.34730400319582, -18.69165159755728] + rpy: [-66.95547342935782, 13.870625793103935, -87.83284128686851] scale: 1.0 - object_id: active_perception/omni_objects/garlic/garlic_032 xyz: [0.013910310342907906, -0.050166282802820206, 0.3765539228916168] - rpy: [-88.93147225018645, 11.036251558362084, 2.5985868766128264] + rpy: [11.081967954418294, -2.393614436551123, -88.95031959418714] scale: 1.0 diff --git a/cfg/sim/scene_51.yaml b/cfg/sim/scene_51.yaml index 1492334..0c8646a 100644 --- a/cfg/sim/scene_51.yaml +++ b/cfg/sim/scene_51.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_007 xyz: [2.2817403078079224e-08, 1.1455267667770386e-07, -0.027996301651000977] - rpy: [-2.9852568388343053e-05, 0.000367535754907937, 90.00108184660121] + rpy: [90.0010818466012, -2.9859508122897308e-05, -0.00036753519117370306] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_059 xyz: [0.014285821467638016, -0.12042209506034851, 0.1319257915019989] - rpy: [-93.64881430255228, -10.08880968098058, 10.064829868887749] + rpy: [-10.704771287571868, -9.406125170024435, -93.64134322056778] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_112 xyz: [0.08051259815692902, -0.14840459823608398, 0.7081535458564758] - rpy: [-90.00755400726256, 4.103729251145464, 3.256792862450752] + rpy: [4.103300471344229, -3.2573334168856984, -90.00754683236487] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_043 xyz: [0.16184934973716736, 0.027519922703504562, 0.1096210777759552] - rpy: [-89.64897137249845, -11.335599119241701, -4.690317389757832] + rpy: [-11.36362723150789, 4.621236431755992, -89.6546965021444] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_041 xyz: [-0.04194948449730873, 0.05159102380275726, 0.7256318926811218] - rpy: [110.53558557441085, -85.42655734358966, -103.57342158336459] + rpy: [98.72669573793571, -82.91500764886771, 103.10730117651946] scale: 1.0 - object_id: active_perception/omni_objects/tomato/tomato_030 xyz: [-0.5220147967338562, -0.060855042189359665, 0.1166582778096199] - rpy: [-71.528159729903, 55.87201767870367, 51.05501944672487] + rpy: [64.51737907371111, -34.947168967418364, -77.4750254843305] scale: 1.0 - object_id: active_perception/omni_objects/waffle/waffle_040 xyz: [-0.5746006369590759, -0.01724337786436081, 0.13937242329120636] - rpy: [-89.74539303091454, 1.1727909722024064, 1.7411011530749416] + rpy: [1.180517093607349, -1.7358727792706607, -89.7453294957931] scale: 1.0 - object_id: active_perception/omni_objects/corn/corn_029 xyz: [-0.43076711893081665, -0.019938243553042412, 0.11924029141664505] - rpy: [-91.2903936760665, -24.911398557955597, -2.4384957007754204] + rpy: [-24.85598764180417, 2.981483462010685, -91.17190470986986] scale: 1.0 diff --git a/cfg/sim/scene_52.yaml b/cfg/sim/scene_52.yaml index 39334d2..a0ae993 100644 --- a/cfg/sim/scene_52.yaml +++ b/cfg/sim/scene_52.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/cabinet/cabinet_009 xyz: [0.006707167252898216, -0.00978370476514101, 0.3974125385284424] - rpy: [0.009930066780556862, -0.9392172848046143, 88.62478801586161] + rpy: [88.62497278179107, -0.012612691010207554, 0.9391850934417972] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_106 xyz: [-0.09353232383728027, 0.07713813334703445, 0.8577260375022888] - rpy: [-82.69963581346079, -1.7758409407158438, 3.3338604880945044] + rpy: [-1.3374473678149406, -3.532446503915315, -82.68919544684604] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_114 xyz: [-0.0009755418286658823, 0.0800495445728302, 0.8618637919425964] - rpy: [-89.04469212306496, 0.31543447476951847, -179.97251505249787] + rpy: [-179.68415113265075, 0.022222074085226192, 89.044706529774] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_127 xyz: [0.038756705820560455, 0.14457708597183228, 0.8597614169120789] - rpy: [89.43610090729494, 5.433446752949853, -179.68463447172866] + rpy: [174.56990466868984, -0.36874483919805257, -89.4386230405072] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_067 xyz: [0.07290107011795044, 0.05052472651004791, 0.884907066822052] - rpy: [178.89054881180132, -13.622814653242015, 101.00635532572828] + rpy: [-100.69666125486873, -1.4871113287093192, -166.41255016598228] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_031 xyz: [-0.09321307390928268, -0.025698160752654076, 0.8609084486961365] - rpy: [102.98584847911462, 24.651252212165268, 177.60664710297723] + rpy: [156.4019935908067, 7.720187977787422, -101.89384910452091] scale: 1.0 - object_id: active_perception/omni_objects/corn/corn_030 xyz: [0.13197773694992065, -0.0023060599341988564, 0.8761539459228516] - rpy: [-85.23387704348053, 41.056884370506594, -2.3535542589646727] + rpy: [40.81030030896531, 5.477276255997892, -86.39135988349186] scale: 1.0 diff --git a/cfg/sim/scene_53.yaml b/cfg/sim/scene_53.yaml index 46b0348..cd4616c 100644 --- a/cfg/sim/scene_53.yaml +++ b/cfg/sim/scene_53.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_001 xyz: [8.083879947662354e-07, 1.8253922462463379e-06, 0.0] - rpy: [1.7454502626872624e-05, 6.48522987326021e-08, 89.99999517032747] + rpy: [89.99999517032747, 1.7454502628865503e-05, -6.485084839966737e-08] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_127 xyz: [-0.23691001534461975, -0.10961029678583145, 0.4562811851501465] - rpy: [-94.76766920622313, 0.5163868614877921, 13.786239649186914] + rpy: [-0.6538933046633323, -13.78051498818201, -94.90911419985432] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_055 xyz: [0.39984244108200073, 0.23699530959129333, 0.49100542068481445] - rpy: [-90.66950675874246, 10.198034965615895, -2.2407057598455613] + rpy: [10.223133156014372, 2.122023299357297, -90.65938140785802] scale: 1.0 - object_id: active_perception/omni_objects/lemon/lemon_033 xyz: [0.44625869393348694, -0.07684177160263062, 0.47564658522605896] - rpy: [-86.36907943049536, -8.53378600138499, 10.302742074191533] + rpy: [-7.863478828363514, -10.820709311402275, -86.3442447460727] scale: 1.0 - object_id: active_perception/omni_objects/walnut/walnut_037 xyz: [0.10427562892436981, 0.018900781869888306, 0.45815157890319824] - rpy: [-89.31885961466256, -3.653206165493389, -6.375389582243907] + rpy: [-3.728891749529174, 6.331539687075882, -89.31607187934011] scale: 1.0 - object_id: active_perception/omni_objects/corn/corn_032 xyz: [0.016410425305366516, 0.1121116578578949, 0.4736463725566864] - rpy: [-93.44107345925283, -50.03546016959598, 4.340339150215235] + rpy: [-50.15197541967585, -1.7003816171233315, -92.2104404471744] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_039 xyz: [-0.570878267288208, -0.09831807762384415, 0.4693850874900818] - rpy: [-109.32075707938468, 72.86347525056962, -89.9623071115054] + rpy: [89.96649205411292, 70.64322032925077, -107.10490741743996] scale: 1.0 - object_id: active_perception/omni_objects/walnut/walnut_038 xyz: [0.495231956243515, 0.18992017209529877, 0.4555791914463043] - rpy: [93.35442649529249, 40.56568294602018, -175.30917268802335] + rpy: [139.27422512548887, -2.505459501910719, -92.55005002859521] scale: 1.0 diff --git a/cfg/sim/scene_54.yaml b/cfg/sim/scene_54.yaml index e67ac77..c1121d6 100644 --- a/cfg/sim/scene_54.yaml +++ b/cfg/sim/scene_54.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/table/table_027 xyz: [0.0001591704785823822, -0.0013144314289093018, 0.44803494215011597] - rpy: [-0.001163489365175445, -0.02006876981673562, 89.83404775940828] + rpy: [89.83404776955064, -0.0012216118481064668, 0.020065315695447006] scale: 1.0 - object_id: active_perception/omni_objects/lemon/lemon_030 xyz: [0.10577105730772018, 0.35301390290260315, 0.796907365322113] - rpy: [83.79414475416895, -14.197366701629624, -157.3229833331598] + rpy: [-163.40072382583438, -21.02732782984428, -83.55348424447263] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_054 xyz: [0.04743698239326477, -0.08067844063043594, 0.7981995344161987] - rpy: [91.1412934204376, 4.602920148578543, 179.08344329613286] + rpy: [175.4161882414283, 1.0079584919328357, -91.13778810756217] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_117 xyz: [0.09453748166561127, -0.3473060727119446, 0.7803483605384827] - rpy: [-89.91867797439167, 2.420985961125996, -2.254094071106839] + rpy: [2.417785405150884, 2.2575269751570737, -89.91868745129051] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_044 xyz: [-0.05334606394171715, -0.33519062399864197, 0.7850861549377441] - rpy: [22.21649773906437, -81.57997778215571, 166.12683610295235] + rpy: [-135.20412602891244, 78.4438445165978, -47.41525778224755] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_039 xyz: [-0.08060280978679657, -0.18283188343048096, 0.7784096002578735] - rpy: [-133.30004650742177, 82.93308875929843, 80.47189564971055] + rpy: [-87.9053449741877, -56.13926963591522, 98.7100158142146] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_047 xyz: [0.12420910596847534, 0.2867569327354431, 0.7858473062515259] - rpy: [-96.0216429447672, -42.18001160599129, -21.512144358485685] + rpy: [-40.20822062305489, 25.480726633803037, -94.94010908199006] scale: 1.0 - object_id: active_perception/omni_objects/cup/cup_039 xyz: [0.005057314410805702, 0.35448184609413147, 0.7939538955688477] - rpy: [128.235614577335, 25.43277590984497, 168.45817084704075] + rpy: [166.85304187633903, 24.68137503402983, -127.9601809776808] scale: 1.0 diff --git a/cfg/sim/scene_55.yaml b/cfg/sim/scene_55.yaml index 60290a2..06120cf 100644 --- a/cfg/sim/scene_55.yaml +++ b/cfg/sim/scene_55.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/chair/chair_026 xyz: [-0.012513276189565659, -0.0025413590483367443, 0.17889578640460968] - rpy: [0.6460205149571526, 1.9250919642341942, 89.85946342612692] + rpy: [89.85953368552869, 0.6507395961056714, -1.9235024290294866] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_041 xyz: [0.05048995837569237, -0.11190874874591827, 0.2159324437379837] - rpy: [-103.7496918094712, 16.454518190811612, -77.70267960838537] + rpy: [54.91779216368983, 69.18253810362181, -129.89589323253654] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_059 xyz: [0.13026532530784607, -0.02934490144252777, 0.2426975816488266] - rpy: [-84.39861296267095, 28.40278219746186, 13.982602043220604] + rpy: [29.501586800763324, -11.269305871624814, -84.97758173548213] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_067 xyz: [-0.013259422034025192, -0.09305231273174286, 0.2446831613779068] - rpy: [-60.86993811638005, -9.359517923659874, -95.43391317132] + rpy: [-101.2170815969162, 61.29309937734459, 0.4662854917821878] scale: 1.0 - object_id: active_perception/omni_objects/carrot/carrot_040 xyz: [0.03650006651878357, -0.015389659442007542, 0.21643345057964325] - rpy: [-86.39442692045061, -46.08425822587327, 12.977741786045799] + rpy: [-45.44432428975471, -15.561503454131799, -87.40484016661269] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_106 xyz: [-0.03987284377217293, 0.05427921935915947, 0.24046482145786285] - rpy: [-86.438934340548, -7.881341841070616, -20.451557111597488] + rpy: [-9.176633551007672, 19.923216209673285, -86.24774937169373] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_038 xyz: [0.0806431695818901, -0.020465072244405746, 0.21398697793483734] - rpy: [-25.290130480679327, -77.638860550212, 106.50444361351092] + rpy: [93.53145227238298, -9.131076292568562, 78.69454383729715] scale: 1.0 diff --git a/cfg/sim/scene_56.yaml b/cfg/sim/scene_56.yaml index 5b9c8c6..b3341fd 100644 --- a/cfg/sim/scene_56.yaml +++ b/cfg/sim/scene_56.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_001 xyz: [-0.00445573590695858, -0.011072833091020584, 0.0648726224899292] - rpy: [0.4764363444258311, -5.270263964383948e-07, 89.99999516809429] + rpy: [89.99999516792724, 0.47643634442577754, 5.67206458229292e-07] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_043 xyz: [-0.8027703166007996, -0.18257224559783936, 0.4894527494907379] - rpy: [-80.63734622973794, 37.63727127506505, 5.024719102341037] + rpy: [37.916104011095754, 0.7187064413968992, -82.5975795926231] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_128 xyz: [0.15533548593521118, -0.2498398870229721, 0.2050500214099884] - rpy: [-90.72027248400626, 1.0143203003837935, -1.462843803457258] + rpy: [1.0326302903009856, 1.4499780808820408, -90.7203902955311] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_059 xyz: [-0.5762204527854919, -0.021063217893242836, 0.9068608283996582] - rpy: [-92.79860038813202, -15.791334244757135, 10.440305323035474] + rpy: [-16.26831835554812, -9.667357537223946, -92.73172063683495] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_060 xyz: [-0.40764138102531433, -0.025068683549761772, 0.9101177453994751] - rpy: [-95.8326194260981, 38.07512392633731, -19.00930942271523] + rpy: [39.482295128007124, 15.354063773631527, -94.75864799336242] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_037 xyz: [0.608992338180542, 0.11661236733198166, 0.8802329301834106] - rpy: [-62.79358124053367, 37.57511628533097, 88.24588937107309] + rpy: [87.06747644276423, -61.69237876894247, -40.17043872991383] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_060 xyz: [-0.7685399651527405, -0.10027133673429489, 0.21564319729804993] - rpy: [-80.78183482408134, 55.96046302897119, 10.95045611203101] + rpy: [56.60052142209812, -3.2778918736711007, -84.84686333433737] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_040 xyz: [0.08241654187440872, 0.20676325261592865, 0.21573610603809357] - rpy: [-114.35622260843786, 64.55710249684054, 6.0914439948657] + rpy: [61.11225913901285, -27.83838075700451, -101.558233723221] scale: 1.0 diff --git a/cfg/sim/scene_57.yaml b/cfg/sim/scene_57.yaml index 2f1f358..1233833 100644 --- a/cfg/sim/scene_57.yaml +++ b/cfg/sim/scene_57.yaml @@ -5,10 +5,10 @@ objects: - object_id: active_perception/omni_objects/picnic/picnic_basket_011 xyz: [-0.002655904972925782, 0.00458406051620841, 0.14613822102546692] - rpy: [1.9389315179170472, 0.18568932750203657, 90.65005297667534] + rpy: [90.65042111615912, 1.9366999802476472, -0.2076834348285519] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_030 xyz: [0.049081552773714066, 0.1008647084236145, 0.23583835363388062] - rpy: [-85.35436461688725, 7.12244403188946, 88.66828797151314] + rpy: [74.62090340815124, -85.01144071311512, -22.447933625715585] scale: 1.0 diff --git a/cfg/sim/scene_58.yaml b/cfg/sim/scene_58.yaml index 814b758..313b6dc 100644 --- a/cfg/sim/scene_58.yaml +++ b/cfg/sim/scene_58.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_009 xyz: [3.288034349679947e-06, 7.2196125984191895e-06, -0.07068830728530884] - rpy: [4.725136355875244e-06, 0.037309039769661524, 89.91771202354705] + rpy: [89.91771204099274, 5.830820758062949e-05, -0.037308994505546686] scale: 1.0 - object_id: active_perception/omni_objects/ginger/ginger_035 xyz: [-0.015557173639535904, 0.06933701783418655, 0.4550289213657379] - rpy: [-87.32787184733392, 6.236661643430814, 12.421135923743448] + rpy: [6.814121163997866, -12.117407682548674, -87.28312047364962] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_052 xyz: [0.3318207561969757, 0.07113667577505112, 1.1672348976135254] - rpy: [-91.66833964760171, -30.63865880966513, -0.31276736028491947] + rpy: [-30.62017091272196, 1.1628029326923828, -91.43567973110362] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_128 xyz: [0.17552517354488373, -0.031809646636247635, 1.1418832540512085] - rpy: [-84.5190883834626, -5.402897200202469, -1.3794312454162008] + rpy: [-5.509517997535366, 0.8578847901511809, -84.5428994486596] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_115 xyz: [-0.3170510530471802, -0.03587181493639946, 1.1400262117385864] - rpy: [-90.0858090749074, 6.617746883753174, -0.21867978949437988] + rpy: [6.618064853019854, 0.20879049857740234, -90.0852379046205] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_050 xyz: [-0.18939632177352905, -0.06076444685459137, 0.4411473572254181] - rpy: [-89.95422243249025, 0.9473062823578521, -3.4517075879798793] + rpy: [0.94454520606857, 3.452463319295867, -89.95414546806268] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_059 xyz: [0.10822072625160217, -0.05717717483639717, 1.1820569038391113] - rpy: [92.19996390684491, -46.34267890347711, -172.34229975858378] + rpy: [-133.883492465894, -9.246429447000535, -91.53853162960736] scale: 1.0 diff --git a/cfg/sim/scene_59.yaml b/cfg/sim/scene_59.yaml index 2fb7eb8..fe802ed 100644 --- a/cfg/sim/scene_59.yaml +++ b/cfg/sim/scene_59.yaml @@ -5,25 +5,25 @@ objects: - object_id: active_perception/omni_objects/sofa/sofa_014 xyz: [-0.01575320027768612, 0.008740640245378017, 0.3198183476924896] - rpy: [0.014347020398924614, 2.6903408335530603, 91.44011056472787] + rpy: [91.4385235655216, -0.05324638576350546, -2.6898524851743404] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_046 xyz: [0.26526331901550293, -0.13366401195526123, 0.38098493218421936] - rpy: [-165.0358051677985, 24.09923779164464, 168.01393947674654] + rpy: [-161.21233719992833, 19.405181401270298, 159.2277559688307] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_038 xyz: [0.3951660394668579, -0.18028834462165833, 0.3760699927806854] - rpy: [-99.64019542939522, 15.11601049494909, 27.655786271042118] + rpy: [9.94887309702772, -29.754482840087814, -100.73210187837769] scale: 1.0 - object_id: active_perception/omni_objects/lipstick/lipstick_030 xyz: [0.3429194688796997, -0.07913658022880554, 0.3708280920982361] - rpy: [-89.87092805308534, 3.1395967434164147, 4.441158929906474] + rpy: [3.1495984611084675, -4.434078551979079, -89.8707348845802] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_044 xyz: [0.3559272289276123, -0.05270551145076752, 0.3846929371356964] - rpy: [-90.04696251384766, -1.9891615865934977, -8.553796330370508] + rpy: [-1.9821014659327283, 8.555423528558084, -90.04746235596822] scale: 1.0 diff --git a/cfg/sim/scene_6.yaml b/cfg/sim/scene_6.yaml index 3275428..f447a9a 100644 --- a/cfg/sim/scene_6.yaml +++ b/cfg/sim/scene_6.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_009 xyz: [6.882939487695694e-06, 1.5208497643470764e-05, 0.00045680999755859375] - rpy: [3.750856185415586e-06, 0.037324187229930195, 89.91739326488607] + rpy: [89.91739328241356, 5.756333180111684e-05, -0.03732414302979995] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_028 xyz: [0.2226414829492569, -0.09607397764921188, 0.11275661736726761] - rpy: [-148.24856945929807, 69.04528586141025, 87.52083437556807] + rpy: [-88.93002604051487, -34.06218124218773, 111.53613347774761] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_042 xyz: [-0.1141841858625412, 0.12688472867012024, 0.11890855431556702] - rpy: [-92.97949549293465, -10.205129049200245, -21.712106365261636] + rpy: [-9.020277792101952, 22.20978005972439, -93.16754376342094] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_121 xyz: [-0.10059498250484467, 0.00251935631968081, 1.2122622728347778] - rpy: [73.9255705181837, 0.5368007149203335, 4.242723491981479] + rpy: [0.6610958579583796, 4.225171659122841, 73.8812994051889] scale: 1.0 - object_id: active_perception/omni_objects/garlic/garlic_032 xyz: [-0.3389880955219269, 0.009271030314266682, 1.2141836881637573] - rpy: [-87.49109724280385, 11.074442648270393, 3.0342146343837313] + rpy: [11.19451026256765, -2.5496395858939134, -87.53540465724376] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_118 xyz: [-0.27592647075653076, -0.01161855086684227, 1.2130296230316162] - rpy: [-89.89223477417522, 1.8422587923035212, 1.9756890477848215] + rpy: [1.8459710686040145, -1.9722211272502097, -89.89222663399967] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_130 xyz: [-0.051784027367830276, 0.09999382495880127, 1.2121646404266357] - rpy: [0.8349331967528034, 0.24434528090203786, 3.05595422204527] + rpy: [3.0521076356587624, 0.28848207927533553, 0.8207299283188324] scale: 1.0 - object_id: active_perception/omni_objects/carrot/carrot_040 xyz: [-0.03414059802889824, -0.08759710192680359, 0.11532104015350342] - rpy: [-103.92358692034723, -68.71027144476133, 30.070196938244592] + rpy: [-70.8181255878414, -16.99614473852933, -95.24174903120593] scale: 1.0 diff --git a/cfg/sim/scene_60.yaml b/cfg/sim/scene_60.yaml index d8e10f5..cd89c99 100644 --- a/cfg/sim/scene_60.yaml +++ b/cfg/sim/scene_60.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/sofa/sofa_013 xyz: [-0.0029488876461982727, -0.003033403540030122, 0.41563642024993896] - rpy: [0.05739630869657317, 0.5148356314022167, 89.41330882882043] + rpy: [89.41333216348711, 0.06266489548931374, -0.5142209556783264] scale: 1.0 - object_id: active_perception/omni_objects/ginger/ginger_039 xyz: [0.008001287467777729, 0.4512757956981659, 0.4577848017215729] - rpy: [-33.849001432668764, -49.636369795293945, 21.22319850135106] + rpy: [-8.940883859595699, -52.32818661290953, -28.344557834030336] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_045 xyz: [0.04071078076958656, 0.35258686542510986, 0.46306881308555603] - rpy: [169.8079411756232, 46.17706114684098, 72.27712648318085] + rpy: [-77.81757888071905, -2.7290556700356863, 133.02202146295554] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_104 xyz: [-0.011600708588957787, 0.06775196641683578, 0.43841537833213806] - rpy: [-91.56152468213975, -2.877920684811863, -7.439069492967121] + rpy: [-2.673210708039621, 7.514689266391741, -91.57306863254198] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_037 xyz: [0.13967567682266235, 0.4179571270942688, 0.4455052316188812] - rpy: [29.262632322095165, -40.128608095320764, 76.02288411687448] + rpy: [78.68131586880237, 19.78770903915758, 44.8557291237857] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_041 xyz: [0.12059629708528519, 0.012605194933712482, 0.46694907546043396] - rpy: [-119.03362022801471, -13.575896696852725, 91.79438443870605] + rpy: [-93.63854349809878, -61.339082724388106, -169.6114022323139] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_063 xyz: [0.14607124030590057, 0.17213895916938782, 0.4606384038925171] - rpy: [-142.10509569144702, 35.501572762847275, 2.5934416089169408] + rpy: [21.516069634311393, -29.051516935550072, -137.2987748948306] scale: 1.0 - object_id: active_perception/omni_objects/knife/knife_031 xyz: [0.0896100327372551, 0.2825477719306946, 0.44547900557518005] - rpy: [3.450972493880802, -86.5201081755522, -159.20968146974403] + rpy: [-97.87090915089043, 65.51970133371252, -81.59241921699102] scale: 1.0 diff --git a/cfg/sim/scene_61.yaml b/cfg/sim/scene_61.yaml index 08ef0c1..1d8ab30 100644 --- a/cfg/sim/scene_61.yaml +++ b/cfg/sim/scene_61.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/sofa/sofa_014 xyz: [-0.025573590770363808, 0.0038626287132501602, 0.347139835357666] - rpy: [-0.04343210387410219, 4.372493343193178, 90.60875747946021] + rpy: [90.60698635161495, -0.08984068337043996, -4.371787396711909] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_051 xyz: [0.39130184054374695, 0.030214229598641396, 0.4278244376182556] - rpy: [-90.11775970546117, -5.037115694585482, -2.2158318310775234] + rpy: [-5.0325662196043615, 2.2261666033277314, -90.11739351969133] scale: 1.0 - object_id: active_perception/omni_objects/garlic/garlic_032 xyz: [0.4070506691932678, -0.29396551847457886, 0.3995043635368347] - rpy: [-94.77103874656252, -14.958292812724364, -1.4936578037961203] + rpy: [-14.788601179542578, 2.7189742315947076, -94.61421721797326] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_039 xyz: [0.3800676465034485, 0.09400419145822525, 0.4154616594314575] - rpy: [-89.78074812629174, -8.070230372845446, 8.776014991399451] + rpy: [-8.036656558644498, -8.806731499387274, -89.78032960818115] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_028 xyz: [0.41644561290740967, -0.1611308455467224, 0.40492063760757446] - rpy: [-92.3626821732718, -41.363215273450926, -80.90413678462563] + rpy: [-28.220161346340575, 82.26131510873947, -103.28397375667157] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_040 xyz: [0.4085729420185089, 0.07318294793367386, 0.40368252992630005] - rpy: [-77.6719688165849, -21.689015932641055, 156.24099513214998] + rpy: [153.90891420016905, -18.74651175735615, 77.90652991230719] scale: 1.0 - object_id: active_perception/omni_objects/cup/cup_039 xyz: [0.3264743387699127, 0.07039090245962143, 0.41117754578590393] - rpy: [-89.0671141611714, 0.0916869681984336, 6.751433395616957] + rpy: [0.20210729786540713, -6.749041575533519, -89.06060516956013] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_123 xyz: [0.3109615445137024, -0.06372343003749847, 0.40079909563064575] - rpy: [-90.08392750150288, -0.897961887517956, -5.988441877134502] + rpy: [-0.8891579688121672, 5.989750720935528, -90.08437784903306] scale: 1.0 diff --git a/cfg/sim/scene_62.yaml b/cfg/sim/scene_62.yaml index e1889e7..afdd6f1 100644 --- a/cfg/sim/scene_62.yaml +++ b/cfg/sim/scene_62.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/sofa/sofa_013 xyz: [-0.0037507142405956984, -0.004156182985752821, 0.32276782393455505] - rpy: [0.010688889946893538, 0.5148454101454814, 89.41331158565512] + rpy: [89.41333524924696, 0.015960000548941984, -0.5147089768749635] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_037 xyz: [-0.09623250365257263, -0.07341901957988739, 0.3441675007343292] - rpy: [86.58679272824443, -81.12658594944499, 139.542222156535] + rpy: [-99.3630345797376, 43.82790972386658, -89.27061275984843] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_045 xyz: [0.2838536202907562, 0.31409719586372375, 0.3719744384288788] - rpy: [-132.1439040090126, 29.913809468689, 14.791867420354771] + rpy: [12.526598190205025, -30.852851045662856, -132.64656319854893] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_043 xyz: [-0.013405686244368553, 0.040272872895002365, 0.3548545241355896] - rpy: [-88.87983508333473, -11.959299993661357, -6.250697089002496] + rpy: [-12.077049994335637, 6.017446921775798, -88.89807890573057] scale: 1.0 - object_id: active_perception/omni_objects/pear/pear_038 xyz: [-0.011458730325102806, -0.27077150344848633, 0.3677452504634857] - rpy: [-89.87748660374487, 12.08830453472621, -4.960895766091626] + rpy: [12.07787883577717, 4.986541505307325, -89.87974808225798] scale: 1.0 - object_id: active_perception/omni_objects/lipstick/lipstick_031 xyz: [0.09394173324108124, 0.2672605514526367, 0.35126253962516785] - rpy: [-89.97203283263026, -0.5664221321337167, -1.5507725137427217] + rpy: [-0.5671791741962886, 1.5504958519949563, -89.97202395629044] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_045 xyz: [0.17284396290779114, 0.390241414308548, 0.3793126344680786] - rpy: [-113.54610583721045, 20.490106787037554, 73.69556225096238] + rpy: [-48.12290234581831, -66.79913171545938, -161.7838869456508] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_038 xyz: [0.3283398747444153, 0.32785892486572266, 0.35967588424682617] - rpy: [-24.455213333886924, 86.93198990999586, 118.04704025508849] + rpy: [92.36623334476306, -52.44454982901727, -85.41545887003868] scale: 1.0 diff --git a/cfg/sim/scene_63.yaml b/cfg/sim/scene_63.yaml index f282396..ae0ff15 100644 --- a/cfg/sim/scene_63.yaml +++ b/cfg/sim/scene_63.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/flower/flower_pot_023 xyz: [-0.012426396831870079, 0.0025887356605380774, 0.13508504629135132] - rpy: [-0.63956399789161, 42.540658984684725, 83.45268297078279] + rpy: [85.17020792820048, 3.7841956789995876, -42.4079586987714] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_028 xyz: [0.024863673374056816, 0.010883592069149017, 0.07138301432132721] - rpy: [-45.16339668882792, 7.794688194523715, 88.96552803181143] + rpy: [88.55012491948098, -45.01390950131632, -8.821517959143163] scale: 1.0 - object_id: active_perception/omni_objects/garlic/garlic_033 xyz: [0.01788456365466118, 0.0024595572613179684, -458.1360168457031] - rpy: [-90.27284629398704, 0.3054314250518907, -4.654304869894273] + rpy: [0.3276405043296772, 4.652797509472401, -90.27374453470634] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_041 xyz: [-0.00940163154155016, -0.022933030501008034, 0.1008031964302063] - rpy: [-106.5693002163096, -58.93480819266424, -84.09288823807219] + rpy: [75.06986119546295, 78.104698262557, 135.55393719925448] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_037 xyz: [-0.019721873104572296, -0.016088012605905533, -439.36944580078125] - rpy: [-89.99999517032747, -1.5092727095493124e-06, 9.055635396813238e-07] + rpy: [-1.509272633216e-06, -9.055636613517998e-07, -89.99999517032747] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_061 xyz: [-0.0006601326749660075, -0.025403589010238647, -430.136962890625] - rpy: [-90.0, -7.970845973310922e-07, 2.9713804480688954e-07] + rpy: [-7.970845846088735e-07, -2.9713805411717653e-07, -90.0] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_039 xyz: [-0.008394590578973293, 0.020405450835824013, 0.0983828753232956] - rpy: [125.60536288836519, -65.40639090838022, -83.20389693502923] + rpy: [85.76822910735854, -48.13231609972294, 111.28717273033561] scale: 1.0 - object_id: active_perception/omni_objects/garlic/garlic_032 xyz: [-0.004915324971079826, -0.0027055731043219566, -411.95843505859375] - rpy: [-89.99999517032704, 7.546363420524375e-08, 2.263909230869809e-07] + rpy: [7.546362148302502e-08, -2.2639091533794996e-07, -89.999995170327] scale: 1.0 diff --git a/cfg/sim/scene_64.yaml b/cfg/sim/scene_64.yaml index cf6faa2..b5879ef 100644 --- a/cfg/sim/scene_64.yaml +++ b/cfg/sim/scene_64.yaml @@ -5,30 +5,30 @@ objects: - object_id: active_perception/omni_objects/picnic/picnic_basket_011 xyz: [-0.0002678334712982178, 0.0009468465577811003, 0.08126553893089294] - rpy: [0.005693335323295269, 0.1857031508687918, 90.6500247362617] + rpy: [90.65002132315841, 0.003586202224787484, -0.18575578966712075] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_128 xyz: [-0.01711992174386978, 0.020031815394759178, 0.17076310515403748] - rpy: [-96.13706707663597, -0.05372284860844498, 179.225887573546] + rpy: [-179.97065161672077, -0.7754190754829647, 96.13762859970977] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_064 xyz: [0.052038390189409256, 0.07415654510259628, 0.19422563910484314] - rpy: [-105.78117974129245, 24.12671080912972, 13.330280801533121] + rpy: [19.818646075051706, -19.27152443612223, -105.24459607385332] scale: 1.0 - object_id: active_perception/omni_objects/watch/watch_015 xyz: [-0.03855918347835541, -0.04313703998923302, 0.17719033360481262] - rpy: [-83.92867600511133, 3.558803909737485, 3.1989971699619897] + rpy: [3.87682610008761, -2.804948064207462, -83.93313186899263] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_117 xyz: [-0.09071479737758636, 0.07352345436811447, 0.1953437328338623] - rpy: [131.682374579537, 64.6133840639479, 163.04926435557383] + rpy: [132.24699173210908, 52.412811191553374, -117.86595060383402] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_059 xyz: [-0.021766752004623413, 0.08020241558551788, 0.19672997295856476] - rpy: [-113.76358002625132, 9.172378197775112, -17.822383161038786] + rpy: [15.589581923788336, 12.64829244499305, -114.06074641626971] scale: 1.0 diff --git a/cfg/sim/scene_65.yaml b/cfg/sim/scene_65.yaml index 536b081..600f937 100644 --- a/cfg/sim/scene_65.yaml +++ b/cfg/sim/scene_65.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/flower/flower_pot_022 xyz: [0.001382753485813737, -0.00023910414893180132, 0.07462355494499207] - rpy: [-0.00038766024716974643, -1.4683330255489724, 89.72892190903148] + rpy: [89.72901091864813, -0.007333854498266434, 1.4683147654772095] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_038 xyz: [0.0154807697981596, -0.029488079249858856, 0.04480123519897461] - rpy: [-73.46075747705666, -5.1654887184043465, 57.02120354439934] + rpy: [19.48587642827328, -54.89651581697893, -60.46046979232971] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_031 xyz: [0.02319386973977089, -0.011130950413644314, 0.0350814051926136] - rpy: [108.6121683785503, 42.83922370028258, 168.46034178524263] + rpy: [141.694161009563, 23.716312878827434, -104.81011500058112] scale: 1.0 - object_id: active_perception/omni_objects/tomato/tomato_028 xyz: [-0.015994492918252945, 0.005164073780179024, 0.048940785229206085] - rpy: [12.230559228948847, 58.4144626259403, 49.87261768402273] + rpy: [61.85286642184053, 44.30945586002555, -44.32873371946589] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_030 xyz: [-0.03000258095562458, 0.008374939672648907, 0.033153824508190155] - rpy: [-31.559461254990662, 55.184058449091054, 79.97365587763099] + rpy: [83.79250862521825, -23.17838924130736, -58.047610782979454] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_042 xyz: [0.026320921257138252, 0.01039472408592701, 0.0474613755941391] - rpy: [34.18788702787786, -14.41519281744211, -52.5137822158157] + rpy: [-44.10367902843197, -34.8336917487176, 12.564368603385677] scale: 1.0 - object_id: active_perception/omni_objects/soap/soap_037 xyz: [0.025082703679800034, 0.030633527785539627, 0.051967233419418335] - rpy: [-47.92910598875986, 23.608969990372312, -167.1258816348196] + rpy: [-153.82215805138324, -5.520892589235721, 51.91514528134285] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_041 xyz: [-0.02117867022752762, -0.02229383774101734, 0.034863606095314026] - rpy: [123.75140678418236, -53.22050639347811, 87.06260930816673] + rpy: [-86.62798424970222, 58.55785454667215, -129.6211733061804] scale: 1.0 diff --git a/cfg/sim/scene_66.yaml b/cfg/sim/scene_66.yaml index 376b56b..1b3965b 100644 --- a/cfg/sim/scene_66.yaml +++ b/cfg/sim/scene_66.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/table/table_028 xyz: [1.0191887617111206, 1.087658405303955, 0.4824046492576599] - rpy: [94.04999280367635, 4.391675553165291, -158.39079156354768] + rpy: [174.02480509312196, -21.24312709539809, -94.33301043326526] scale: 1.0 - object_id: active_perception/omni_objects/ginger/ginger_034 xyz: [-0.08064983785152435, 0.22298605740070343, -501.39068603515625] - rpy: [-89.83845946877256, 0.2166583222278247, 0.2512530651439237] + rpy: [0.21736584606817977, -0.2506412192617656, -89.83845907805214] scale: 1.0 - object_id: active_perception/omni_objects/lemon/lemon_029 xyz: [0.12405267357826233, 0.05523580685257912, 0.09360718727111816] - rpy: [-88.67728248279617, 22.543337623446437, 7.751354743142221] + rpy: [22.704017673070705, -7.242516234123869, -88.76854074324774] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_046 xyz: [-0.011441251263022423, -0.26534950733184814, 0.08759215474128723] - rpy: [-90.79587436270548, -33.74304454913596, -7.6431775304844916] + rpy: [-33.65158644853577, 8.084738017141753, -90.66843623401579] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_059 xyz: [-0.1627139449119568, -0.23359863460063934, 0.09917668998241425] - rpy: [-94.08497150671175, -15.790046270798024, 10.437392276343967] + rpy: [-16.47306967576952, -9.301944245055132, -93.98303810740586] scale: 1.0 - object_id: active_perception/omni_objects/cup/cup_039 xyz: [-0.09547970443964005, -0.3412112295627594, 0.079020194709301] - rpy: [-176.60626806504496, 33.773964948197026, 9.285485330374755] + rpy: [-8.908908307642625, -33.86397430036626, 177.85214106912827] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_038 xyz: [-0.06006292626261711, -0.2564919590950012, 0.07723057270050049] - rpy: [-85.34866696650143, -24.287172895554587, 42.673746367443286] + rpy: [-20.19058696522053, -44.43608623773303, -84.05822930262673] scale: 1.0 diff --git a/cfg/sim/scene_67.yaml b/cfg/sim/scene_67.yaml index 3d3c11d..6ee3ad8 100644 --- a/cfg/sim/scene_67.yaml +++ b/cfg/sim/scene_67.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/table/table_028 xyz: [-1.0617077350616455e-06, 1.0263174772262573e-06, 0.2980737090110779] - rpy: [-0.000459682781315134, 4.803660574067653e-05, 90.00000482948026] + rpy: [90.00000482948023, -0.00045968278535557576, -4.803656700152051e-05] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_125 xyz: [-0.17880377173423767, -0.3430621027946472, 0.4222390651702881] - rpy: [-5.8108139076947545, 7.402074319729934, 11.626515991806684] + rpy: [12.383852269686109, 6.034996396742229, -7.220807551191164] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_045 xyz: [-0.039416734129190445, 0.13007479906082153, 0.4448470175266266] - rpy: [-110.5226039259758, -32.55079350074289, 58.24381152547426] + rpy: [-51.77750129364342, -44.19120848885572, -114.33888283617996] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_047 xyz: [-0.07795923203229904, -0.01049976795911789, 0.40144801139831543] - rpy: [-89.53638561870773, 16.802024763217744, -12.36701714192939] + rpy: [16.70414354120797, 12.500653690470786, -89.54540089917543] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_061 xyz: [0.14032414555549622, 0.2298567295074463, 0.2824347913265228] - rpy: [-90.01035157088229, -3.5758362551628915, 0.40143199394471224] + rpy: [-3.575908583247506, -0.4007863639909005, -90.01033167038995] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_041 xyz: [-0.16917522251605988, 0.14566774666309357, 0.4074244499206543] - rpy: [-86.98269402669037, -10.938696459898642, -16.15320391236207] + rpy: [-11.779109261929307, 15.558784915425035, -86.92477372208683] scale: 1.0 - object_id: active_perception/omni_objects/soap/soap_037 xyz: [-0.1527957022190094, -0.29214465618133545, 0.41495293378829956] - rpy: [-100.46522864761613, -26.001938177414537, 26.539729626943615] + rpy: [-30.13929482860105, -21.601319875099016, -100.11269356520769] scale: 1.0 - object_id: active_perception/omni_objects/ginger/ginger_039 xyz: [0.001964918337762356, 0.10470718145370483, 0.41036105155944824] - rpy: [-85.03144826949699, -12.419199059379318, -7.996315697930935] + rpy: [-13.053178517145469, 6.900266952686466, -85.112506772794] scale: 1.0 diff --git a/cfg/sim/scene_68.yaml b/cfg/sim/scene_68.yaml index 1e1634d..d9aa68a 100644 --- a/cfg/sim/scene_68.yaml +++ b/cfg/sim/scene_68.yaml @@ -5,30 +5,30 @@ objects: - object_id: active_perception/omni_objects/table/table_028 xyz: [5.960464477539063e-08, 6.891787052154541e-08, 0.28144797682762146] - rpy: [-7.311572756826748e-06, -7.1606436489182265e-06, 90.00001448901934] + rpy: [90.00001448901929, -7.31157095549537e-06, 7.160645493639941e-06] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_037 xyz: [0.060449860990047455, 0.16614319384098053, 0.386324018239975] - rpy: [-100.9504788839068, 9.710041411993066, 20.093882778349922] + rpy: [5.5684607193228235, -21.55491146273965, -101.61404921414277] scale: 1.0 - object_id: active_perception/omni_objects/soap/soap_037 xyz: [0.16648751497268677, 0.13166943192481995, 0.2628943622112274] - rpy: [87.93037753153077, 3.7290719409575104, 94.46735031984846] + rpy: [152.15015189511274, 84.95673048020907, -65.79865721008824] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_111 xyz: [-0.04492887109518051, 0.1844634860754013, 0.3878799378871918] - rpy: [-90.62500539472148, 4.08879713675781, 3.1515647206997195] + rpy: [4.054228230858376, -3.1959414876353263, -90.6243856683826] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_041 xyz: [-0.053608570247888565, 0.04223425313830376, 0.3811678886413574] - rpy: [124.06569781831242, -78.63148602784614, 84.49949631456012] + rpy: [-87.74444293485907, 61.30882822475051, -103.29637573219405] scale: 1.0 - object_id: active_perception/omni_objects/waffle/waffle_040 xyz: [0.15234160423278809, 0.048564791679382324, 0.29963141679763794] - rpy: [-92.56031028335921, 0.446694377144822, -4.677406020988758] + rpy: [0.6556449436213002, 4.652772779491649, -92.56870300462008] scale: 1.0 diff --git a/cfg/sim/scene_69.yaml b/cfg/sim/scene_69.yaml index 12ffae9..0640a77 100644 --- a/cfg/sim/scene_69.yaml +++ b/cfg/sim/scene_69.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/chair/chair_026 xyz: [-0.01206004898995161, -0.0014798603951931, 0.21103592216968536] - rpy: [0.2648713309458502, 1.9395430822398756, 89.87637709944859] + rpy: [89.87644656139518, 0.26905472250885526, -1.9389674012094096] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_125 xyz: [0.047479819506406784, 0.0685354545712471, 0.2622784972190857] - rpy: [-95.13109432422075, 53.96049657371685, 2.5513911778278566] + rpy: [53.715496392072694, -6.694962903977474, -93.03693060726253] scale: 1.0 - object_id: active_perception/omni_objects/pear/pear_036 xyz: [0.11505629867315292, 0.035524994134902954, 0.27960503101348877] - rpy: [-94.41766511117673, 24.640510390504993, -1.7530260801244288] + rpy: [24.69874780145871, -0.09159791110309222, -94.0147116468328] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_122 xyz: [0.005148973315954208, 0.005880699958652258, 0.24477188289165497] - rpy: [-88.46731146965882, 4.8851774005867545, 8.673879547481588] + rpy: [5.116299203759395, -8.540269086670266, -88.45575340086496] scale: 1.0 - object_id: active_perception/omni_objects/lemon/lemon_029 xyz: [0.04460873827338219, 0.13096797466278076, 0.26010969281196594] - rpy: [151.90391241042727, 78.6745707882873, -103.02324982588586] + rpy: [92.62968318804027, -15.3026536626377, -100.34690011912808] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_042 xyz: [0.04169599711894989, -0.05750070884823799, 0.24658414721488953] - rpy: [11.113955350055516, -80.23257994643195, 154.51788588306863] + rpy: [121.42224167169361, 72.91720614967434, 55.48016307254878] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_028 xyz: [0.16185621917247772, 0.053216416388750076, 0.24744011461734772] - rpy: [-172.16812005601574, -85.39255582798717, 51.26970550969458] + rpy: [-86.64692768575853, 30.764764670771452, -95.31389140407168] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_051 xyz: [0.032796040177345276, 0.014818048104643822, 0.27624860405921936] - rpy: [-91.9455694040312, -32.37263268703781, -17.362511669093145] + rpy: [-31.840934619749866, 18.396662042494356, -91.73162651499523] scale: 1.0 diff --git a/cfg/sim/scene_7.yaml b/cfg/sim/scene_7.yaml index 4b459ce..6fb2c62 100644 --- a/cfg/sim/scene_7.yaml +++ b/cfg/sim/scene_7.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/table/table_025 xyz: [0.00026913778856396675, 0.0021119490265846252, 0.22824016213417053] - rpy: [-0.13853942248288378, -0.011954280059369146, 90.63611018366277] + rpy: [90.63611202564032, -0.13839816813826022, 0.013491609433880431] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_128 xyz: [-0.02997380495071411, 0.0631929263472557, 0.512463390827179] - rpy: [-90.1029273311975, -3.862605138715767, 3.4758459597194875] + rpy: [-3.868836428005861, -3.468906764048609, -90.10288202972139] scale: 1.0 - object_id: active_perception/omni_objects/ginger/ginger_035 xyz: [-0.041159529238939285, 0.039572183042764664, 0.2974728047847748] - rpy: [-91.81469549020352, -30.73488829343122, 8.602900540176385] + rpy: [-30.95768757867317, -7.672380591830773, -91.57383041127878] scale: 1.0 - object_id: active_perception/omni_objects/carrot/carrot_040 xyz: [-0.08248544484376907, -0.017192134633660316, 0.3046480119228363] - rpy: [134.77427516976937, -7.311081326892235, 174.32348853231656] + rpy: [-170.81698447696164, -1.0871355475571727, -134.32400959401713] scale: 1.0 - object_id: active_perception/omni_objects/cup/cup_036 xyz: [-0.00011768948752433062, 0.12456241250038147, 0.3338857591152191] - rpy: [-89.07643243893803, 0.8070121753736781, -0.6564576449430497] + rpy: [0.7963267304254538, 0.669379849363282, -89.07646102607646] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_059 xyz: [-0.11891406029462814, 0.17114746570587158, 0.5354589819908142] - rpy: [-92.79774644994407, -15.72574402555477, 10.497760662478285] + rpy: [-16.205597493954574, -9.728060606668816, -92.73226515806996] scale: 1.0 - object_id: active_perception/omni_objects/pear/pear_039 xyz: [0.025967203080654144, 0.13942891359329224, 0.5285421013832092] - rpy: [-88.50877801742587, 13.156289392017287, 5.447850793266608] + rpy: [13.290385139348404, -5.1067191567410335, -88.54213884723325] scale: 1.0 diff --git a/cfg/sim/scene_70.yaml b/cfg/sim/scene_70.yaml index 6209eae..5eb4a38 100644 --- a/cfg/sim/scene_70.yaml +++ b/cfg/sim/scene_70.yaml @@ -5,20 +5,20 @@ objects: - object_id: active_perception/omni_objects/table/table_025 xyz: [-0.0014063366688787937, 0.0050314925611019135, 0.15709619224071503] - rpy: [-0.5001919307014511, -0.01195071715143143, 90.63610037341475] + rpy: [90.63612458500218, -0.5000284298692452, 0.017503161181247534] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_065 xyz: [-0.04758719727396965, -0.05028793215751648, 0.4650489091873169] - rpy: [56.45475757814866, 49.388686207985025, 145.96363364830603] + rpy: [122.90590672675866, 6.826684352311365, -68.7605774952079] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_039 xyz: [0.13211193680763245, 0.20163775980472565, 0.44745853543281555] - rpy: [-90.50975287175162, -8.873325026226372, 7.9603035774172985] + rpy: [-8.943392965853219, -7.88136551813332, -90.50845481385093] scale: 1.0 - object_id: active_perception/omni_objects/lemon/lemon_033 xyz: [0.13076962530612946, 0.07298938930034637, 0.45521223545074463] - rpy: [-87.29449024994304, -8.500179818358985, 10.323140225257124] + rpy: [-8.003002981267604, -10.711509615303578, -87.27674468762113] scale: 1.0 diff --git a/cfg/sim/scene_71.yaml b/cfg/sim/scene_71.yaml index 20374d9..9ec6092 100644 --- a/cfg/sim/scene_71.yaml +++ b/cfg/sim/scene_71.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/table/table_027 xyz: [0.0002777688205242157, -0.002688467502593994, 0.45351549983024597] - rpy: [-0.001854063650704176, -0.03567087268092506, 89.6615703759674] + rpy: [89.66157044133583, -0.0020647276126889887, 0.03565929906535121] scale: 1.0 - object_id: active_perception/omni_objects/ginger/ginger_040 xyz: [0.18123923242092133, 0.21683302521705627, 0.7927471995353699] - rpy: [-89.98941549596098, -4.172375004991992, 3.570938906548556] + rpy: [-4.17171615323649, -3.5717089461760034, -89.98942300371746] scale: 1.0 - object_id: active_perception/omni_objects/cup/cup_039 xyz: [-0.007584347855299711, -0.0026702797040343285, 0.7895469069480896] - rpy: [-118.24652122184986, -72.51176690009459, 41.228580793041154] + rpy: [-76.53336262391637, -13.951343860133804, -98.42670584505548] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_056 xyz: [-0.037725672125816345, 0.34263181686401367, 0.8077952265739441] - rpy: [-97.49252251220504, 7.257659613555396, -14.134028040616556] + rpy: [9.05482838857646, 13.069423591146961, -97.63095003250285] scale: 1.0 - object_id: active_perception/omni_objects/cup/cup_034 xyz: [-0.14606468379497528, 0.3503051996231079, 0.8310123085975647] - rpy: [-87.26347885370241, 18.39811099686246, -16.09389533967916] + rpy: [17.626247080158038, 16.940244779843802, -87.28558749679812] scale: 1.0 - object_id: active_perception/omni_objects/tomato/tomato_030 xyz: [0.22107240557670593, -0.2049456387758255, 0.7977958917617798] - rpy: [-89.8568683735305, 22.656008779036952, 19.55609873569808] + rpy: [22.702849144931676, -19.50091075891291, -89.85987516291397] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_031 xyz: [0.15551812946796417, -0.2408902645111084, 0.778964638710022] - rpy: [-90.52420725566543, -10.188543452424748, 1.5177602246211412] + rpy: [-10.201795651787737, -1.4249739876176037, -90.51610041550992] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_045 xyz: [0.12715822458267212, -0.22409328818321228, 0.7994602918624878] - rpy: [-89.24261088089295, 33.127100547762744, 15.812019416526356] + rpy: [33.30407409520285, -15.39712386752693, -89.34210864659198] scale: 1.0 diff --git a/cfg/sim/scene_72.yaml b/cfg/sim/scene_72.yaml index 37401a0..63535f9 100644 --- a/cfg/sim/scene_72.yaml +++ b/cfg/sim/scene_72.yaml @@ -5,10 +5,10 @@ objects: - object_id: active_perception/omni_objects/sofa/sofa_014 xyz: [-0.01783144474029541, 0.007134719751775265, 0.2994767129421234] - rpy: [-0.17752187275479822, 3.1789408631649594, 91.0684979503199] + rpy: [91.06686267856797, -0.2367407196067259, -3.175083919697261] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_043 xyz: [0.0029353920836001635, 0.24146291613578796, 0.38812699913978577] - rpy: [-113.14844833001484, -3.074607496363099, -12.470845229554469] + rpy: [2.1577611984422815, 12.65881068318951, -113.72382864047269] scale: 1.0 diff --git a/cfg/sim/scene_73.yaml b/cfg/sim/scene_73.yaml index 8625242..ab95c89 100644 --- a/cfg/sim/scene_73.yaml +++ b/cfg/sim/scene_73.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/chair/chair_026 xyz: [-0.010007976554334164, -0.0005495697259902954, 0.23304176330566406] - rpy: [0.10411447308654097, 1.9458887320265992, 89.88378148564072] + rpy: [89.88384829759515, 0.1080605301102307, -1.9456736683481182] scale: 1.0 - object_id: active_perception/omni_objects/watch/watch_013 xyz: [-0.06250542402267456, 0.060703568160533905, 0.2812367081642151] - rpy: [106.99601960898981, 6.962171768335496, 0.8720561777736926] + rpy: [-6.9141253693496, -1.1959898036722454, 106.87071739615446] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_030 xyz: [-0.03689372539520264, 0.09469156712293625, 0.2692623436450958] - rpy: [-26.095347405710992, 0.9373374310422529, 90.39311804017495] + rpy: [90.43770363172567, -26.101117924788532, -0.7447858278459367] scale: 1.0 - object_id: active_perception/omni_objects/tomato/tomato_029 xyz: [-0.053646646440029144, -0.0024876846000552177, 0.29210302233695984] - rpy: [-46.48931275893863, -13.393655744260094, 51.18659155159045] + rpy: [35.2654804005941, -41.68742047287452, -26.251112256917438] scale: 1.0 - object_id: active_perception/omni_objects/lipstick/lipstick_030 xyz: [0.026345646008849144, 0.010835841298103333, 0.264462411403656] - rpy: [88.82412101134727, 60.817414793356704, -176.4925612066329] + rpy: [119.22291239166204, -4.533870639311142, -89.42487902792126] scale: 1.0 - object_id: active_perception/omni_objects/waffle/waffle_041 xyz: [0.012116163037717342, -0.12023772299289703, 0.28635793924331665] - rpy: [49.963720293510605, -60.066780280447844, -87.04982094615193] + rpy: [-87.58234876568908, -52.496290245203085, -58.181249742154776] scale: 1.0 - object_id: active_perception/omni_objects/walnut/walnut_037 xyz: [0.05550888180732727, -0.10812458395957947, 0.28077465295791626] - rpy: [-89.82708769666338, -14.402065771399155, -4.681175194747731] + rpy: [-14.415715892804469, 4.6381476345373684, -89.83197136938198] scale: 1.0 - object_id: active_perception/omni_objects/soap/soap_037 xyz: [0.04986763000488281, -0.03142603859305382, 0.2666603922843933] - rpy: [-1.3677905195631856, 8.241853362254297, -84.21688023054544] + rpy: [-84.27261814644648, 2.188610516517364, 8.063977443331343] scale: 1.0 diff --git a/cfg/sim/scene_74.yaml b/cfg/sim/scene_74.yaml index 5fc8865..20c4d93 100644 --- a/cfg/sim/scene_74.yaml +++ b/cfg/sim/scene_74.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/flower/flower_pot_021 xyz: [0.0009324421989731491, -0.002057164441794157, -0.0018638618057593703] - rpy: [2.178999922797609, -1.0938481193369893, 89.18490142419371] + rpy: [89.18446874658295, 2.1632196243277684, 1.1247441827302573] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_030 xyz: [0.019498713314533234, -0.023879384621977806, -0.04175728186964989] - rpy: [166.85973567869382, 17.668104324309358, 93.65340798265562] + rpy: [-93.5910866715752, 14.223605271650397, 163.18160246651337] scale: 1.0 - object_id: active_perception/omni_objects/waffle/waffle_041 xyz: [0.005021863617002964, 0.01338847354054451, -0.007267644628882408] - rpy: [-67.26031918381082, 35.58295639561531, -11.692367680018393] + rpy: [29.314351272496275, 24.026580017377274, -69.86773457438957] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_038 xyz: [-0.013221372850239277, -0.022754622623324394, -0.04209933429956436] - rpy: [-94.6292881970945, 27.231467473813474, -67.80581732966218] + rpy: [36.33197224436155, 65.35897387998395, -99.91122156196978] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_039 xyz: [0.0033480129204690456, -0.03286299854516983, -0.038146909326314926] - rpy: [164.09052562580254, -28.53765914105855, 23.06158690674552] + rpy: [-17.58828832189745, 32.01211317133371, 175.11268424307636] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_041 xyz: [-0.025038255378603935, -0.013564524240791798, -0.0433717779815197] - rpy: [-178.7127396794247, -35.99044057193549, -166.74207725386262] + rpy: [162.91031698496656, -34.519840012339095, 169.04336656018683] scale: 1.0 - object_id: active_perception/omni_objects/walnut/walnut_039 xyz: [0.002448673127219081, -0.03794597089290619, -0.0067250593565404415] - rpy: [-162.57687043874586, -57.62364239361227, 75.48411421436312] + rpy: [-82.25651407962427, -5.042525143074811, -120.8568834664217] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_061 xyz: [0.0021955706179142, -0.015642087906599045, -0.016391079872846603] - rpy: [117.1392029900506, -41.521479304882526, 113.39242963809717] + rpy: [-114.48001742296567, 44.16304437928924, -118.43013980567774] scale: 1.0 diff --git a/cfg/sim/scene_75.yaml b/cfg/sim/scene_75.yaml index 47ad2d9..ce8c283 100644 --- a/cfg/sim/scene_75.yaml +++ b/cfg/sim/scene_75.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_001 xyz: [1.9604340195655823e-07, 4.842877388000488e-08, -0.06014394760131836] - rpy: [2.1223631981991736e-05, -2.693550693081568e-07, 89.99999999999994] + rpy: [89.99999999999994, 2.1223631981685818e-05, 2.693550693081568e-07] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_049 xyz: [-0.5816999077796936, 0.19526307284832, 0.7489321827888489] - rpy: [-147.38937862990366, 2.312195016993639, 4.802994316915091] + rpy: [-2.8095870356220587, -4.530469257076928, -147.59752140809042] scale: 1.0 - object_id: active_perception/omni_objects/bowl/bowl_016 xyz: [-0.09429880231618881, -0.0664977952837944, 0.9469855427742004] - rpy: [-88.61776727487569, 43.200369767788615, -9.556649367827188] + rpy: [43.02190833997166, 10.501314494909945, -88.9752825619873] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_047 xyz: [0.6445286870002747, -0.10684533417224884, 0.7582622766494751] - rpy: [-96.79513302094291, 16.795950512813086, -12.36831234396321] + rpy: [18.098543810665486, 10.328636343301815, -96.61157561906442] scale: 1.0 - object_id: active_perception/omni_objects/tomato/tomato_030 xyz: [-0.35093340277671814, 0.13715945184230804, 0.7727605700492859] - rpy: [-97.66683319872918, 30.977145629842713, 18.433956240980088] + rpy: [28.50574910357257, -22.242540167730198, -97.09875096132002] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_115 xyz: [-0.14335763454437256, -0.11049054563045502, 0.7533199787139893] - rpy: [-89.99968246339314, -0.12330124493868061, 0.02357826735074688] + rpy: [-0.12330111426492997, -0.02357895069267802, -89.99968246410151] scale: 1.0 - object_id: active_perception/omni_objects/garlic/garlic_032 xyz: [-0.45140311121940613, 0.1521240621805191, 0.3993973731994629] - rpy: [-90.00830154311888, 4.069985295937108, -0.22234486961365946] + rpy: [4.070017387659941, 0.2217556659365798, -90.00828066948144] scale: 1.0 - object_id: active_perception/omni_objects/cup/cup_038 xyz: [-0.15211983025074005, 0.0683886781334877, 0.7536374926567078] - rpy: [-89.07485559453427, -41.163915957648534, -2.984288717960292] + rpy: [-41.19650639753288, 2.375138780090948, -89.3029381557562] scale: 1.0 diff --git a/cfg/sim/scene_76.yaml b/cfg/sim/scene_76.yaml index 54880e6..6c8793c 100644 --- a/cfg/sim/scene_76.yaml +++ b/cfg/sim/scene_76.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_009 xyz: [6.851973012089729e-06, 1.521967351436615e-05, 0.00045680999755859375] - rpy: [-3.1946496027798594e-06, 0.037319959795777104, 89.91739326262392] + rpy: [89.91739328014748, 5.061173976480181e-05, -0.037319925613783445] scale: 1.0 - object_id: active_perception/omni_objects/pear/pear_038 xyz: [-0.21425315737724304, 0.09290957450866699, 0.12617512047290802] - rpy: [-136.2712401903015, 5.4930088407142, -2.3650410083354925] + rpy: [5.509534129491274, -2.326185693198444, -136.04582363028607] scale: 1.0 - object_id: active_perception/omni_objects/garlic/garlic_032 xyz: [-0.10094795376062393, -0.1231100931763649, 0.12787482142448425] - rpy: [-97.74843376015717, 8.598631618000852, 25.976890249780173] + rpy: [4.767053236991612, -26.8804643387529, -98.59545933221388] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_029 xyz: [-0.3398788869380951, -0.08754706382751465, 0.11143847554922104] - rpy: [75.37959877327214, -71.4046167493628, -90.07044288752665] + rpy: [-90.08859706322164, -75.31281661618793, -71.490331950757] scale: 1.0 - object_id: active_perception/omni_objects/cup/cup_037 xyz: [-0.03131231665611267, -0.11476030200719833, 0.15394127368927002] - rpy: [-56.617602908382885, -4.917910047877047, -78.54177040434234] + rpy: [-70.32311719403076, 53.99877566716469, -21.152427516927066] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_107 xyz: [0.12178052216768265, 0.09944106638431549, 1.2133876085281372] - rpy: [-89.95883703476419, 2.1538777868109023, 2.115196521529691] + rpy: [2.1553964655567515, -2.1136489318989016, -89.95883811157786] scale: 1.0 - object_id: active_perception/omni_objects/pear/pear_039 xyz: [-0.15669198334217072, 0.09433698654174805, 1.2334835529327393] - rpy: [-89.93739222048089, 13.38401163524191, 5.48439777652991] + rpy: [13.389851764555758, -5.469902445006912, -89.93881400039774] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_040 xyz: [0.12805914878845215, 0.05785766988992691, 0.12905478477478027] - rpy: [-41.92058112248299, 38.98507107317173, 85.92287182174415] + rpy: [85.90566131553032, -39.28119718784249, -41.65097000757234] scale: 1.0 diff --git a/cfg/sim/scene_77.yaml b/cfg/sim/scene_77.yaml index cb60f5a..0da75cb 100644 --- a/cfg/sim/scene_77.yaml +++ b/cfg/sim/scene_77.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_003 xyz: [-1.0745134204626083e-07, 7.525086402893066e-07, -0.005629062652587891] - rpy: [3.103147283085763e-06, -1.8774527398646872e-06, 89.99999999999994] + rpy: [89.99999999999994, 3.1031472830702433e-06, 1.8774527271424684e-06] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_120 xyz: [-0.3457590937614441, 0.18603506684303284, 0.18038010597229004] - rpy: [-89.85311557088892, -5.871288968004751, -2.8128663103795244] + rpy: [-5.878448761618256, 2.7978317658934215, -89.85371172047395] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_109 xyz: [-0.48566892743110657, -0.12593939900398254, 0.18203842639923096] - rpy: [-89.9592653635121, -3.4402195605344463, -1.0955774030244507] + rpy: [-3.440996288252815, 1.0931327604316445, -89.95933136787927] scale: 1.0 - object_id: active_perception/omni_objects/lipstick/lipstick_028 xyz: [-0.34352782368659973, -0.0024617647286504507, 1.1944496631622314] - rpy: [-89.99860905141465, 0.0024492461868293658, 0.0001325061441065671] + rpy: [0.0024492494029044816, -0.0001324466846186135, -89.9986090514159] scale: 1.0 - object_id: active_perception/omni_objects/lemon/lemon_029 xyz: [0.4597398638725281, 0.06012766808271408, 0.20729830861091614] - rpy: [-92.09749664904729, -13.996832678677253, 25.67032716882001] + rpy: [-14.961633644959296, -25.145818501030657, -92.24836720744925] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_043 xyz: [0.2821801006793976, -0.07112938910722733, 0.18461376428604126] - rpy: [-95.69915115219767, -81.00458037499342, -81.60461196345292] + rpy: [-63.231284928788526, 87.09466597788493, -107.83851585033317] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_048 xyz: [-0.3716971278190613, -0.04904819652438164, 1.2094576358795166] - rpy: [-93.15084084886033, -37.89716322951324, 3.248826174226247] + rpy: [-37.996111284311326, -1.3109837377460587, -92.48655231592842] scale: 1.0 diff --git a/cfg/sim/scene_78.yaml b/cfg/sim/scene_78.yaml index 10719cb..10ce85b 100644 --- a/cfg/sim/scene_78.yaml +++ b/cfg/sim/scene_78.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/table/table_028 xyz: [3.3639371395111084e-06, 1.5739351511001587e-06, 0.27545371651649475] - rpy: [-0.0005138442639467844, -4.657342102412781e-05, 90.00000482988139] + rpy: [90.00000482988139, -0.0005138442600402704, 4.657346434328257e-05] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_049 xyz: [0.060412757098674774, -0.08841262757778168, 0.3895251154899597] - rpy: [-17.138360488416026, 13.964518778281958, -162.84084363684718] + rpy: [-159.3272931931803, -7.6662395916809745, 20.655692502550924] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_105 xyz: [-0.16449162364006042, 0.14432434737682343, 0.38482674956321716] - rpy: [-87.13751475068578, -6.888874313516987, 2.285748442658261] + rpy: [-6.766946193487743, -2.6261325908140742, -87.15520692996056] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_041 xyz: [-0.014245759695768356, -0.30887576937675476, 0.3919398784637451] - rpy: [-33.44498031119806, 34.49501083136944, 87.73827033789134] + rpy: [87.79848999832878, -32.144571249160144, -35.687598599269926] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_046 xyz: [-0.06861570477485657, 0.26032501459121704, 0.3880026638507843] - rpy: [-82.19211664586794, 54.14636589504101, 1.890564069476346] + rpy: [54.04443528627786, 4.437147503233489, -85.42236003614576] scale: 1.0 - object_id: active_perception/omni_objects/pear/pear_035 xyz: [0.059823207557201385, -0.04344546049833298, 0.3832854628562927] - rpy: [-73.6285392578066, 0.62113505175042, -91.72080251488133] + rpy: [-96.0769152418354, 73.52226754485979, 6.450506842127622] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_042 xyz: [-0.07393649965524673, 0.002505263779312372, 0.38219699263572693] - rpy: [-89.57781095046845, -6.767621650705694, -21.996723292179997] + rpy: [-6.936737380501181, 21.94635238988431, -89.54799736774787] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_120 xyz: [0.03391434997320175, -0.12767821550369263, 0.39409342408180237] - rpy: [-76.31585850398561, -54.092191137762256, -80.92648778462426] + rpy: [-75.50334322474626, 68.31651796453855, -67.94403569012098] scale: 1.0 diff --git a/cfg/sim/scene_79.yaml b/cfg/sim/scene_79.yaml index 9c08057..a08ae0c 100644 --- a/cfg/sim/scene_79.yaml +++ b/cfg/sim/scene_79.yaml @@ -5,30 +5,30 @@ objects: - object_id: active_perception/omni_objects/table/table_026 xyz: [3.191409632563591e-06, 2.6293564587831497e-05, 0.3778645992279053] - rpy: [-0.006634655019742087, 2.6731243312507736e-06, 89.99998068115259] + rpy: [89.99998068115245, -0.006634655018848073, -2.67536138074709e-06] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_112 xyz: [-0.10926023870706558, 0.20821580290794373, 0.696517288684845] - rpy: [-90.09845783805417, 4.106243944969388, 3.253683164813596] + rpy: [4.100655043809438, -3.2607285628168388, -90.09836434344798] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_044 xyz: [-0.20599547028541565, -0.07130728662014008, 0.6982414722442627] - rpy: [74.72665258145905, 81.2837601944403, 84.67677717840004] + rpy: [85.375928071746, 79.95671691015343, -76.76726385993253] scale: 1.0 - object_id: active_perception/omni_objects/bowl/bowl_015 xyz: [0.17030444741249084, -0.08362076431512833, 0.7324205040931702] - rpy: [-94.8579081668239, -3.030367069528977, 127.50681013121682] + rpy: [-176.69530634722256, -52.48153550861958, 97.98173418244794] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_116 xyz: [-0.0042854007333517075, 0.19265438616275787, 0.7114707827568054] - rpy: [-89.34530096220217, -6.957539050639126, 1.659151790697728] + rpy: [-6.93826470128206, -1.7383494800000554, -89.34982300878075] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_059 xyz: [-0.06409760564565659, 0.0998007208108902, 0.7298434972763062] - rpy: [-95.74997873133239, 6.110008637146774, 20.063953958085083] + rpy: [3.98741944785284, -20.570476298352915, -96.10798955694956] scale: 1.0 diff --git a/cfg/sim/scene_8.yaml b/cfg/sim/scene_8.yaml index d0cb8f5..7b1b112 100644 --- a/cfg/sim/scene_8.yaml +++ b/cfg/sim/scene_8.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/chair/chair_028 xyz: [-0.003976470325142145, -0.0010194857604801655, 0.27490031719207764] - rpy: [0.4388585038694726, 0.6661655935126584, 89.48453043732003] + rpy: [89.4845497438023, 0.4448337823918713, -0.6621906238288734] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_060 xyz: [-0.013236919417977333, 0.01290014199912548, 0.2993946969509125] - rpy: [-81.88853124057441, -14.13252685143749, 10.482508462207578] + rpy: [-12.535551424752645, -12.356384855651747, -81.9478969566584] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_129 xyz: [0.07053572684526443, -0.059165842831134796, 0.2803660035133362] - rpy: [-58.788093596649524, 12.565535113400665, -2.55747444737357] + rpy: [9.476347209609397, 8.672664698032895, -59.226684718639916] scale: 1.0 - object_id: active_perception/omni_objects/lipstick/lipstick_029 xyz: [-0.02488316223025322, 0.02574106864631176, 0.2751932442188263] - rpy: [115.63771378572974, -62.27405739617407, 168.74912444102432] + rpy: [-117.75465183892753, -11.521941714153058, -101.85531250890469] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_046 xyz: [0.12134285271167755, 0.02496362291276455, 0.29997655749320984] - rpy: [-93.02046305179282, 4.141168973495853, -60.16733514208742] + rpy: [9.337481650117914, 59.81243080940774, -95.99939713854025] scale: 1.0 - object_id: active_perception/omni_objects/corn/corn_031 xyz: [0.053746532648801804, -0.019188517704606056, 0.29528748989105225] - rpy: [-81.04521329852892, -6.373553090185125, -8.01158735349486] + rpy: [-7.541158819478451, 6.924651658251638, -81.03508427929377] scale: 1.0 - object_id: active_perception/omni_objects/carrot/carrot_040 xyz: [-0.03715364634990692, -0.014147231355309486, 0.28027451038360596] - rpy: [-77.76001757143965, 36.30835455141672, 15.99752956670297] + rpy: [38.432741034806334, -8.549101460998308, -80.05146112554144] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_039 xyz: [0.10257524996995926, -0.09158545732498169, 0.3013342320919037] - rpy: [-3.9796204152418597, -56.8897603398099, 174.20395642286516] + rpy: [163.7329652642459, 55.51969823369579, 15.725140366145565] scale: 1.0 diff --git a/cfg/sim/scene_80.yaml b/cfg/sim/scene_80.yaml index 44bd8fd..2899127 100644 --- a/cfg/sim/scene_80.yaml +++ b/cfg/sim/scene_80.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_003 xyz: [-3.6496203392744064e-08, 9.685754776000977e-08, 0.00037091970443725586] - rpy: [-2.854242564529667e-05, -1.68095788081059e-07, 90.00000965934557] + rpy: [90.00000965934554, -2.854242562064067e-05, 1.6810060980195612e-07] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_028 xyz: [-0.3027162551879883, -0.16150806844234467, 0.18721099197864532] - rpy: [30.64900514363734, -80.3763644914054, -137.658584571323] + rpy: [-97.40352892260348, 16.4741543055032, -81.37428484799783] scale: 1.0 - object_id: active_perception/omni_objects/lemon/lemon_032 xyz: [-0.13332761824131012, -0.15703456103801727, 0.21054665744304657] - rpy: [-93.63118512139992, 17.043435441989093, 167.90791846686542] + rpy: [-162.248257472716, -11.006003089810594, 93.5366431175449] scale: 1.0 - object_id: active_perception/omni_objects/corn/corn_032 xyz: [0.1550908386707306, 0.06195041909813881, 0.20436248183250427] - rpy: [-125.46578139805564, 54.16774477176938, -0.04835242703222556] + rpy: [48.46180269260948, -28.01573846503888, -112.6284030210062] scale: 1.0 - object_id: active_perception/omni_objects/cup/cup_034 xyz: [0.39760294556617737, -0.07622867822647095, 0.21785835921764374] - rpy: [130.20834769786907, -63.0631150356376, 179.38348765487373] + rpy: [-123.37059297639236, -34.56062516530772, -110.80062588684991] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_126 xyz: [-0.1134137511253357, 0.022314980626106262, 0.21480709314346313] - rpy: [164.44035045024017, -86.56295237423348, -25.24415938060253] + rpy: [85.25319261613237, 49.058959787035285, 95.05644788003877] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_042 xyz: [0.2589632570743561, 0.08845112472772598, 1.208258867263794] - rpy: [-86.2772547712005, -10.258070181081319, -21.60682538057586] + rpy: [-11.68003757993853, 20.8981711279246, -86.07850575323637] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_119 xyz: [0.2607761323451996, 0.1829211562871933, 0.19263343513011932] - rpy: [-89.89033079854111, -3.8073363774248903, 3.4828221046155194] + rpy: [-3.800669453706906, -3.490097957646403, -89.89036951342922] scale: 1.0 diff --git a/cfg/sim/scene_81.yaml b/cfg/sim/scene_81.yaml index 91f207a..6b61b08 100644 --- a/cfg/sim/scene_81.yaml +++ b/cfg/sim/scene_81.yaml @@ -5,25 +5,25 @@ objects: - object_id: active_perception/omni_objects/picnic/picnic_basket_011 xyz: [-0.00028351484797894955, 0.00099096167832613, 0.021121568977832794] - rpy: [0.0003741043665574689, 0.18571438452797964, 90.65002091833277] + rpy: [90.65001750386043, -0.0017328014870104014, -0.18570667727281645] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_109 xyz: [0.0046044811606407166, -0.03477929159998894, 0.11473434418439865] - rpy: [-85.5656279612208, -1.6132345164847945, 1.4993624702980037] + rpy: [-1.4924939969011453, -1.6195907844378679, -85.56561405127098] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_040 xyz: [0.04020177572965622, -0.04688725247979164, 0.12067464739084244] - rpy: [-16.71623074869472, 53.525506997801955, 73.2996838700563] + rpy: [80.14936802518862, -3.1062546539130422, -55.237141903458685] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_123 xyz: [0.0011215799022465944, 0.02853931486606598, 0.11138072609901428] - rpy: [-117.33001771176032, 31.80940844637826, -0.7296889141280337] + rpy: [29.157137655171333, -13.336178267056862, -113.63893340402463] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_060 xyz: [0.01938900351524353, 0.06647170335054398, 0.1419203281402588] - rpy: [-43.32646674111331, 23.7723155931141, 20.012408100319462] + rpy: [30.614880114696643, 2.3334562508298995, -48.21885996659015] scale: 1.0 diff --git a/cfg/sim/scene_82.yaml b/cfg/sim/scene_82.yaml index b41c361..7859b81 100644 --- a/cfg/sim/scene_82.yaml +++ b/cfg/sim/scene_82.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/flower/flower_pot_023 xyz: [0.00012764055281877518, -0.0022776424884796143, 0.05172253027558327] - rpy: [0.07690247594289741, -0.08217349519761843, 87.81737940384555] + rpy: [87.81737984229242, 0.0737171323045722, 0.08504268610356444] scale: 1.0 - object_id: active_perception/omni_objects/walnut/walnut_037 xyz: [0.010899963788688183, -0.015914669260382652, 0.019538599997758865] - rpy: [-80.99435991192615, -5.186166246784937, -25.58202662566386] + rpy: [-9.363245527929621, 24.438596893272805, -80.14051714857469] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_029 xyz: [-0.024355024099349976, 0.017745450139045715, 0.013335115276277065] - rpy: [93.64039680329404, -12.899524979558809, 69.05741225515195] + rpy: [3.339978115558722, 69.5735555911596, 100.21474267367783] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_037 xyz: [0.0019192788749933243, 0.02898767776787281, 0.010874140076339245] - rpy: [-138.64743735582974, -46.75181946572976, 80.3923334592991] + rpy: [-82.06527023734543, -34.067319616825635, -128.38010772954016] scale: 1.0 - object_id: active_perception/omni_objects/carrot/carrot_040 xyz: [-0.012552791275084019, -0.023912271484732628, 0.0240184236317873] - rpy: [-31.334038325828683, -76.85339701294357, -41.95342322037584] + rpy: [-79.87951424937339, -15.719125690627235, -78.35667614515354] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_037 xyz: [-0.009927542880177498, 0.0011146197794005275, 0.031542710959911346] - rpy: [88.50561688891854, 41.018433775650834, 7.9227877068738835] + rpy: [-40.851468288949306, 8.901942884593426, 88.85879729661455] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_031 xyz: [0.010069552809000015, -0.0032604741863906384, 0.03258560970425606] - rpy: [2.129636740459478, 45.40883137870364, 172.22391636644176] + rpy: [166.93436640736078, -44.43266184077077, -10.74294628092617] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_039 xyz: [-0.03384978324174881, -0.004950808361172676, 0.018354129046201706] - rpy: [-28.562149970143395, -23.12228979468271, -99.37995387448291] + rpy: [-100.16522114860375, 31.865813518655557, -17.994669402283137] scale: 1.0 diff --git a/cfg/sim/scene_83.yaml b/cfg/sim/scene_83.yaml index 63f7f26..3479c14 100644 --- a/cfg/sim/scene_83.yaml +++ b/cfg/sim/scene_83.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_001 xyz: [2.7669593691825867e-06, 2.456456422805786e-05, -0.005999863147735596] - rpy: [-0.000770137627581401, -2.7188436089082514e-07, 89.99998551098417] + rpy: [89.99998551098416, -0.0007701376276557601, 2.716896218887885e-07] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_110 xyz: [-0.21101565659046173, 0.11477236449718475, 0.8054687976837158] - rpy: [-89.9973311672338, -3.0166444138619073, -1.126673501763652] + rpy: [-3.016696824986629, 1.126533050402771, -89.99733435023397] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_059 xyz: [0.6175572276115417, -0.2061261385679245, 0.1609685868024826] - rpy: [-51.62773587532599, -88.60003393569514, -36.589408879391414] + rpy: [-88.87542898935254, -1.7743266786667051, -89.13058166368053] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_116 xyz: [-0.11863919347524643, 0.06644672155380249, 0.13461318612098694] - rpy: [-89.96625229617753, -0.83730650024191, -2.935146016374516] + rpy: [-0.839036509391204, 2.9346523437886427, -89.9662115887878] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_120 xyz: [0.2701822817325592, 0.10258223861455917, 0.13455307483673096] - rpy: [-79.32099596916306, 14.69082821851382, 0.6269861973083117] + rpy: [14.559712549860746, 2.076754131595081, -79.66714555180289] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_122 xyz: [0.5795960426330566, -0.0038585695438086987, 0.805677592754364] - rpy: [-90.00123156651175, -1.6179055546610906e-05, 8.007412240351028e-05] + rpy: [-1.6180776735582328e-05, -8.0073774630712e-05, -90.00123156651176] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_047 xyz: [-0.22548256814479828, -0.04839528352022171, 0.14514757692813873] - rpy: [27.78417064906757, 18.40440142303227, 179.8117452107425] + rpy: [171.01208559738828, -16.128300795281067, -29.09066635016198] scale: 1.0 - object_id: active_perception/omni_objects/ginger/ginger_040 xyz: [-0.21999028325080872, -0.15086673200130463, 0.14509053528308868] - rpy: [-109.65134993742798, -3.806788233053848, 3.4832288787811643] + rpy: [-4.754840082474824, -2.0018385333522204, -109.6186771879235] scale: 1.0 diff --git a/cfg/sim/scene_84.yaml b/cfg/sim/scene_84.yaml index 0dfcaef..9e9750c 100644 --- a/cfg/sim/scene_84.yaml +++ b/cfg/sim/scene_84.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/flower/flower_pot_022 xyz: [0.0011673321714624763, -3.4482625778764486e-05, 0.052064843475818634] - rpy: [-0.2863397803699252, -0.9758460184576261, 89.82217343515606] + rpy: [89.82219695897489, -0.2893669436914834, 0.9749527409883569] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_061 xyz: [-0.019184699282050133, -0.009433303959667683, 0.01739073172211647] - rpy: [-82.92414003283794, -10.564760690989955, -51.53622884138258] + rpy: [-18.923034669054083, 49.72848058345526, -79.20271250877073] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_037 xyz: [0.013109018094837666, 0.034249383956193924, 0.03666161745786667] - rpy: [-114.23764509606316, 30.933352289610657, -9.294087564360511] + rpy: [31.99609864115579, -3.496592689752997, -110.65797879772549] scale: 1.0 - object_id: active_perception/omni_objects/soap/soap_037 xyz: [-0.005467858165502548, 0.02740754373371601, 0.026897676289081573] - rpy: [-9.596105019463549, 32.83941455032035, 36.66182349476462] + rpy: [44.45381342347424, 19.231442228346502, -28.66971502013868] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_037 xyz: [0.027218656614422798, -0.02038911171257496, 0.011095328256487846] - rpy: [78.99027509460042, -44.13667211529592, 13.781524881689739] + rpy: [45.50317690973386, 6.008402975367752, 82.07847803298104] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_029 xyz: [-0.005879923701286316, -0.03709425777196884, 0.01569148525595665] - rpy: [-79.60280050340313, -19.700787478026673, -3.597594553282622] + rpy: [-20.01365295440949, 0.057291108905700605, -80.21756221735339] scale: 1.0 - object_id: active_perception/omni_objects/garlic/garlic_033 xyz: [0.03627506643533707, 2.0478182705119252e-05, 0.01809331774711609] - rpy: [-179.56060575963372, 36.95356494476363, -77.03738219096334] + rpy: [79.58785875599405, -7.317856865909751, -143.67421434375214] scale: 1.0 diff --git a/cfg/sim/scene_85.yaml b/cfg/sim/scene_85.yaml index 180d94d..c8ee418 100644 --- a/cfg/sim/scene_85.yaml +++ b/cfg/sim/scene_85.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_009 xyz: [6.901100277900696e-06, 1.5636906027793884e-05, 0.00045686960220336914] - rpy: [2.540345094384824e-06, 0.037317559706658655, 89.91732564908546] + rpy: [89.91732566662104, 5.638730577942786e-05, -0.03731751719213334] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_054 xyz: [0.24194425344467163, -0.02066052332520485, 1.2337119579315186] - rpy: [-90.71030809962613, 26.875232155065994, -21.046728729897932] + rpy: [27.11673756663128, 20.724295958053037, -90.67742160573987] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_110 xyz: [0.17820332944393158, -0.0807323157787323, 1.2072421312332153] - rpy: [-89.66876158101131, -5.412943215830624, -1.4017421079759003] + rpy: [-5.420922372245301, 1.370472276590653, -89.67014433865745] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_122 xyz: [-0.2946581244468689, -0.07815167307853699, 0.5048669576644897] - rpy: [-89.99972686409072, -0.08255946048741054, -0.03722934270285562] + rpy: [-0.08255963796309966, 0.037228949131640834, -89.99972686431659] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_040 xyz: [-0.11873634904623032, -0.02704474702477455, 0.5108729004859924] - rpy: [-89.57436635402401, 11.557276157172668, 21.89612489721756] + rpy: [11.724465727794017, -21.810241503033808, -89.55084489879275] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_117 xyz: [0.3208611011505127, 0.08388230949640274, 1.2110278606414795] - rpy: [-89.99849756420971, -0.08658061680991375, -1.37474971347662] + rpy: [-0.08661667296595499, 1.374747442648719, -89.99849713334136] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_044 xyz: [0.038846708834171295, -0.0036572343669831753, 1.2280975580215454] - rpy: [-88.6369183240112, -4.936063685413888, -13.336339407612634] + rpy: [-5.2564187634451685, 13.215252149766108, -88.60502588150695] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_119 xyz: [-0.030171919614076614, -0.04128888621926308, 0.5123984217643738] - rpy: [-90.0634087543874, -3.891882138297539, 3.4455659651005734] + rpy: [-3.8956887221569603, -3.4412600615108944, -90.06337680497091] scale: 1.0 diff --git a/cfg/sim/scene_86.yaml b/cfg/sim/scene_86.yaml index 1241d9f..0845d6e 100644 --- a/cfg/sim/scene_86.yaml +++ b/cfg/sim/scene_86.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/table/table_027 xyz: [7.347390055656433e-05, -0.0007099956274032593, 0.46526038646698] - rpy: [2.7342936897450486e-06, -0.009369037894869375, 89.9102550087422] + rpy: [89.91025500994203, -1.1940854757924795e-05, 0.009369030684539191] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_042 xyz: [-0.18190120160579681, -0.4257824718952179, 0.8066297173500061] - rpy: [-95.44515818842726, -12.187726906559577, -20.24077585649744] + rpy: [-10.160206903114894, 21.296915889793237, -95.71340381677311] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_031 xyz: [-0.15649282932281494, 0.05104178562760353, 0.793309211730957] - rpy: [-90.17658210888608, 15.946499651261634, -2.553143344957904] + rpy: [15.953998325619445, 2.504618091962342, -90.16994932420994] scale: 1.0 - object_id: active_perception/omni_objects/lipstick/lipstick_030 xyz: [-0.13911239802837372, -0.04784880951046944, 0.7945224046707153] - rpy: [-56.925948700115825, -88.1470565073875, -34.695633473410176] + rpy: [-88.47599859737784, 1.635029996189585, -88.9885189463281] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_065 xyz: [-0.0064493208192288876, 0.3107498586177826, 0.8212128281593323] - rpy: [-38.98608264939332, 64.41599967762701, 58.53308368065165] + rpy: [76.77501907666789, -9.82507942101522, -70.08288967806689] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_122 xyz: [0.1435786485671997, -0.39626777172088623, 0.7971068620681763] - rpy: [-90.0018569948217, -0.08993007468487926, 0.009212380981869557] + rpy: [-0.08993037321676695, -0.009209466283922836, -90.00185699255826] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_048 xyz: [-0.18711693584918976, -0.355323851108551, 0.8118197917938232] - rpy: [110.83800872019405, 33.351783508355346, -173.13088771054117] + rpy: [146.31961072052704, 4.725875570972322, -107.34689867906388] scale: 1.0 - object_id: active_perception/omni_objects/lipstick/lipstick_028 xyz: [0.08040450513362885, -0.38116586208343506, 0.7989243865013123] - rpy: [-89.99927209175097, -0.1046059548137074, 0.012085130217200582] + rpy: [-0.10460580127124698, -0.01208645917093235, -89.99927209294789] scale: 1.0 diff --git a/cfg/sim/scene_87.yaml b/cfg/sim/scene_87.yaml index 4414ca2..2f72aaa 100644 --- a/cfg/sim/scene_87.yaml +++ b/cfg/sim/scene_87.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_003 xyz: [-0.0001453098957426846, -7.048249244689941e-06, 0.065243661403656] - rpy: [0.010170748988352627, -5.674189917986605e-06, 90.00000965884189] + rpy: [90.00000965884205, 0.01017074898928994, 5.672475331846703e-06] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_038 xyz: [0.3834586441516876, -0.07149095088243484, 0.26232874393463135] - rpy: [-60.67526580992381, -6.360869688370567, 2.8197700827233216] + rpy: [-4.170605098248601, -5.57135507540861, -60.721571561430515] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_106 xyz: [-0.028744764626026154, 0.1762123852968216, 0.18911685049533844] - rpy: [-153.5330547394108, -32.05274021036357, 65.33216271788075] + rpy: [-68.80486599756232, -11.930943564632203, -140.84865463545702] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_059 xyz: [-0.041953232139348984, -0.1760152131319046, 0.2651319205760956] - rpy: [-90.26112244241969, -2.4212420679288895, 3.2333599072255135] + rpy: [-2.43595509941092, -3.2222949942206465, -90.26130245075069] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_048 xyz: [-0.32268765568733215, 0.007759859319776297, 0.0856565311551094] - rpy: [-98.0148449619671, -37.90211379447038, 3.247143565048957] + rpy: [-37.98835350642703, 1.6862519507107516, -96.31913382502613] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_029 xyz: [-0.25493207573890686, -0.061150308698415756, 0.9992259740829468] - rpy: [-64.171959096863, 84.15214968775625, 112.5698489501347] + rpy: [123.70111522372194, -85.95858071261038, -50.961966887381855] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_037 xyz: [-0.21608518064022064, 0.08667658269405365, 1.000050663948059] - rpy: [26.83635909086416, 79.13998128908506, 92.73540647316601] + rpy: [90.56460164786246, 24.14883165141145, -79.38305115226859] scale: 1.0 - object_id: active_perception/omni_objects/pear/pear_037 xyz: [-0.08752449601888657, 0.22736015915870667, 1.0369553565979004] - rpy: [-129.35949922869224, 50.475014764037546, -67.37904964630052] + rpy: [73.27820476585441, 31.70511912655582, -118.32041007068324] scale: 1.0 diff --git a/cfg/sim/scene_88.yaml b/cfg/sim/scene_88.yaml index 2592d1d..f373885 100644 --- a/cfg/sim/scene_88.yaml +++ b/cfg/sim/scene_88.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/table/table_025 xyz: [-7.523968815803528e-05, 0.005662169307470322, 0.18924373388290405] - rpy: [-0.41182892887442063, -0.011930878800423258, 90.6360892100996] + rpy: [90.63610561621547, -0.4116710973984483, 0.01650219162285665] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_062 xyz: [0.006926136091351509, 0.09183687716722488, 0.49738195538520813] - rpy: [-90.6232109743565, 25.954661199292712, -2.6727816631602077] + rpy: [25.97948054494137, 2.399903741402819, -90.56084413768946] scale: 1.0 - object_id: active_perception/omni_objects/corn/corn_031 xyz: [-0.16031993925571442, -0.06639155000448227, 0.4855399429798126] - rpy: [-90.63758528305316, -49.913979225600194, 4.446335807935492] + rpy: [-49.944137234853756, -3.9584228563045305, -90.41154157071938] scale: 1.0 - object_id: active_perception/omni_objects/garlic/garlic_033 xyz: [0.1267828494310379, -0.05545390024781227, 0.4687686562538147] - rpy: [97.5953540555294, -1.3179620850681097, -178.865581434869] + rpy: [-178.84353018402504, -1.2986566726698594, -97.59529526321536] scale: 1.0 - object_id: active_perception/omni_objects/pear/pear_037 xyz: [0.07206540554761887, 0.03641929104924202, 0.4971790313720703] - rpy: [-166.1332816802122, 60.497293992085545, -98.49404118720469] + rpy: [94.47519293862932, 21.213395279784812, -120.85480735433161] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_037 xyz: [0.11258602142333984, 0.04861752316355705, 0.21461385488510132] - rpy: [164.43415278853243, 52.71612174455358, 84.91480136801503] + rpy: [-86.85902185331456, 11.499101834957667, 126.54826328995226] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_039 xyz: [-0.042758505791425705, 0.06335312128067017, 0.47061818838119507] - rpy: [-84.17392852601995, 40.912883503101234, -139.53693657949498] + rpy: [-135.67481329112704, 36.514520721623256, 84.52297776644403] scale: 1.0 diff --git a/cfg/sim/scene_89.yaml b/cfg/sim/scene_89.yaml index 175b1b4..efd2ad9 100644 --- a/cfg/sim/scene_89.yaml +++ b/cfg/sim/scene_89.yaml @@ -5,30 +5,30 @@ objects: - object_id: active_perception/omni_objects/table/table_026 xyz: [4.230532795190811e-07, 2.3469328880310059e-07, 0.4100126326084137] - rpy: [-1.8252777399085946e-05, -3.213807227991593e-05, 90.00003380771584] + rpy: [90.00003380771581, -1.8252758446374716e-05, 3.2138083042912976e-05] scale: 1.0 - object_id: active_perception/omni_objects/lemon/lemon_031 xyz: [0.1356734335422516, -0.027284938842058182, 0.03775759041309357] - rpy: [-91.26469008278805, -0.35959652024337607, -1.0167556676227902] + rpy: [-0.33706592532915675, 1.0244446497404043, -91.26486738220024] scale: 1.0 - object_id: active_perception/omni_objects/corn/corn_030 xyz: [-0.05527402088046074, -0.14205342531204224, 0.03638928383588791] - rpy: [-27.36587390985027, 15.703914892515954, -10.210175619004362] + rpy: [-2.1141644457957276, 18.545054812148127, -25.608948436366198] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_039 xyz: [-0.05107331648468971, -0.04975581914186478, 0.047353506088256836] - rpy: [-71.56736503502924, -3.235453764868657, 23.462615406551866] + rpy: [4.791770670291399, -23.20947953898095, -69.91074784018316] scale: 1.0 - object_id: active_perception/omni_objects/soap/soap_037 xyz: [-0.02914530783891678, 0.19489143788814545, 0.7324475049972534] - rpy: [-129.99700289216472, 2.268512167806058, 95.01022261994214] + rpy: [-97.72941610339737, -49.54617160767792, 171.82622378713296] scale: 1.0 - object_id: active_perception/omni_objects/lipstick/lipstick_031 xyz: [0.08810104429721832, 0.17646263539791107, 0.7307496070861816] - rpy: [-90.08654236982731, -1.3633835053352905, 1.5499213354922563] + rpy: [-1.3657229333857508, -1.5478604414865273, -90.08654945068913] scale: 1.0 diff --git a/cfg/sim/scene_9.yaml b/cfg/sim/scene_9.yaml index 3218e84..9953c60 100644 --- a/cfg/sim/scene_9.yaml +++ b/cfg/sim/scene_9.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/table/table_027 xyz: [9.898282587528229e-05, -0.0009979605674743652, 0.44816112518310547] - rpy: [-0.0019236106781457052, -0.013707987533133752, 89.87410029711874] + rpy: [89.8741003006488, -0.001953727452662583, 0.013703727569246992] scale: 1.0 - object_id: active_perception/omni_objects/waffle/waffle_040 xyz: [-0.11944551765918732, 0.04113759472966194, 0.8122217059135437] - rpy: [-90.01654173274518, -3.9637655588475886, -0.5230096123378709] + rpy: [-3.963614754257905, 0.5241530476651943, -90.01650285490146] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_038 xyz: [-0.1309722512960434, -0.24932676553726196, 0.7850207686424255] - rpy: [-101.93499940483797, 13.725915220273338, 21.499540589126685] + rpy: [8.817373130569282, -23.84266031333133, -102.68790945076768] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_031 xyz: [0.2026631385087967, -0.23303572833538055, 0.7741584181785583] - rpy: [-86.86181399880526, 15.87962495666503, -1.4690531508548352] + rpy: [15.779593039091388, 2.325278016222216, -86.97919479746857] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_129 xyz: [0.08197429031133652, -0.3999693989753723, 0.782148003578186] - rpy: [-16.81489250760499, 1.8516934531511837, 1.0721385757287651] + rpy: [1.5624128498367558, 1.4619320888485827, -16.85215449881951] scale: 1.0 - object_id: active_perception/omni_objects/tomato/tomato_028 xyz: [0.015220582485198975, -0.21095016598701477, 0.7910074591636658] - rpy: [-107.37888327868917, 71.77455944858714, 42.33383182526639] + rpy: [63.755635114720235, -58.47703069960747, -100.29242614668723] scale: 1.0 - object_id: active_perception/omni_objects/cup/cup_036 xyz: [0.09369556605815887, -0.23804405331611633, 0.8116806149482727] - rpy: [68.89868845287154, 61.1911147340817, 172.16476968786807] + rpy: [119.06534314693654, -10.680421097336126, -79.83127600922191] scale: 1.0 diff --git a/cfg/sim/scene_90.yaml b/cfg/sim/scene_90.yaml index 8ce6b46..3a6a59b 100644 --- a/cfg/sim/scene_90.yaml +++ b/cfg/sim/scene_90.yaml @@ -5,20 +5,20 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_007 xyz: [-2.5122426450252533e-07, -3.725290298461914e-09, -0.006296426057815552] - rpy: [2.0066254137949926e-05, -2.6483039186275686e-06, 90.00000965934586] + rpy: [90.00000965934584, 2.0066254595316194e-05, 2.6483005345173874e-06] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_039 xyz: [0.3404531478881836, 0.10718400031328201, 0.12337004393339157] - rpy: [-130.09649803576215, -81.39420456301114, 114.30319215846139] + rpy: [-102.59122492500856, -73.59013223059104, -109.94685047268136] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_042 xyz: [-0.24077124893665314, -0.15295295417308807, 0.7418116927146912] - rpy: [-87.62956844204548, -10.257566130238006, -21.60783964635532] + rpy: [-11.169886862705356, 21.167096977550376, -87.49861380020307] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_129 xyz: [-0.0804676041007042, -0.18895970284938812, 0.7346137166023254] - rpy: [-89.97518559144318, 1.9013057433873854, 1.1888406950890296] + rpy: [1.9018202341750858, -1.1880172923866092, -89.97519392048729] scale: 1.0 diff --git a/cfg/sim/scene_91.yaml b/cfg/sim/scene_91.yaml index 939d434..a4358c4 100644 --- a/cfg/sim/scene_91.yaml +++ b/cfg/sim/scene_91.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/chair/chair_028 xyz: [-0.0034265071153640747, -0.0004189303144812584, 0.2974872291088104] - rpy: [-0.07994571002948037, 0.8314539795609394, 89.70485969640694] + rpy: [89.7048905151487, -0.0756618580101078, -0.8318547189964477] scale: 1.0 - object_id: active_perception/omni_objects/walnut/walnut_038 xyz: [0.02194279059767723, -0.10700667649507523, 0.3089102804660797] - rpy: [127.16792087282587, 80.61826385197351, -111.66321733771895] + rpy: [94.0413882809561, -31.368829056239086, -96.62341513789082] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_115 xyz: [0.019356131553649902, 0.036829881370067596, 0.30042916536331177] - rpy: [-61.35243712211497, -6.301655748211146, -79.76227457030963] + rpy: [-70.13351306867906, 58.67811340597908, -23.556807925642968] scale: 1.0 - object_id: active_perception/omni_objects/banana/banana_044 xyz: [0.11574447900056839, -0.033215925097465515, 0.325130820274353] - rpy: [-32.52510307752366, 23.868392288462285, 70.04680686713814] + rpy: [70.19968333251784, -22.89029360801322, -33.17991625374567] scale: 1.0 - object_id: active_perception/omni_objects/cup/cup_039 xyz: [-0.0032719445880502462, -0.06561443954706192, 0.30486011505126953] - rpy: [100.64671618181639, -62.52198349398315, -0.5001802603456371] + rpy: [62.156431990198435, 8.935630814176683, 94.95042402947136] scale: 1.0 - object_id: active_perception/omni_objects/corn/corn_030 xyz: [0.018260378390550613, -0.014711788855493069, 0.31802812218666077] - rpy: [100.37465466713259, 41.48045952690494, -173.7940502383619] + rpy: [138.1459698926007, 0.701720196869403, -97.75432788922254] scale: 1.0 - object_id: active_perception/omni_objects/lipstick/lipstick_031 xyz: [0.10098665952682495, 0.04157233238220215, 0.3031448423862457] - rpy: [103.21225819491836, 34.12240170956385, -165.39252814863215] + rpy: [143.80933046597937, -6.975857322893884, -100.98907113504956] scale: 1.0 - object_id: active_perception/omni_objects/bowl/bowl_017 xyz: [0.10205013304948807, 0.06564881652593613, 0.351503849029541] - rpy: [-104.23549808997157, 10.00642602963308, 82.52174266964474] + rpy: [-59.98869776540679, -75.1521716199004, -160.91472161261552] scale: 1.0 diff --git a/cfg/sim/scene_92.yaml b/cfg/sim/scene_92.yaml index 5a24738..5dab21f 100644 --- a/cfg/sim/scene_92.yaml +++ b/cfg/sim/scene_92.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/flower/flower_pot_023 xyz: [0.0003846663748845458, -0.0006048893555998802, -0.0016616927459836006] - rpy: [0.13766237143511525, -0.32459678658091534, 89.45968190637409] + rpy: [89.45968908660502, 0.13459525744383438, 0.32588051743502555] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_040 xyz: [0.013761465437710285, -0.018494736403226852, -0.04155493900179863] - rpy: [77.3744832856613, -46.746506334400046, 85.56011586534835] + rpy: [79.00177094563865, 73.85628360326088, 57.406950707154444] scale: 1.0 - object_id: active_perception/omni_objects/garlic/garlic_032 xyz: [-0.024371925741434097, -0.0015725818229839206, -0.041001997888088226] - rpy: [130.94214813516433, 12.345670552026077, 175.53931402906753] + rpy: [173.553049494735, 11.445343570790468, -130.7780915475925] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_045 xyz: [-0.01672065444290638, -0.014467110857367516, -0.03224702179431915] - rpy: [-18.99647189238966, 60.420969077301955, 31.244105381107733] + rpy: [60.05043473590012, 32.29041105668064, -56.487029064150754] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_061 xyz: [0.0014771543210372329, -0.00032587337773293257, -0.04307562857866287] - rpy: [30.769110235234542, -75.22004295613075, -168.68862378169007] + rpy: [-110.94404824217507, 45.588034921081565, -71.74641565198354] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_041 xyz: [0.018264517188072205, 0.010489502921700478, -0.03656022995710373] - rpy: [5.991207749788665, -63.589478802486006, -47.69230077418706] + rpy: [-66.0036088553663, -42.59070877219555, -53.0672306498611] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_038 xyz: [0.02519538626074791, -0.02631794661283493, -0.027130182832479477] - rpy: [-80.55658084692875, 25.1200069563509, 79.6438768510495] + rpy: [55.48386927470274, -73.30693835049283, -58.857081055652415] scale: 1.0 diff --git a/cfg/sim/scene_93.yaml b/cfg/sim/scene_93.yaml index 9652b8a..04cc418 100644 --- a/cfg/sim/scene_93.yaml +++ b/cfg/sim/scene_93.yaml @@ -5,35 +5,35 @@ objects: - object_id: active_perception/omni_objects/cabinet/cabinet_009 xyz: [0.00121364276856184, -0.003727440256625414, 0.3475756049156189] - rpy: [0.06970140889905814, -0.12070504338968069, 89.49373134578609] + rpy: [89.49373210605081, 0.0686321462041255, 0.12131620774470257] scale: 1.0 - object_id: active_perception/omni_objects/cup/cup_034 xyz: [-0.10782050341367722, -0.1242535337805748, 0.834889829158783] - rpy: [89.14071722271574, -59.11825736274696, 179.94242709810925] + rpy: [-120.88502441111731, 0.7950248839433138, -89.55892753308221] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_112 xyz: [0.1548844277858734, 0.09739700704813004, 0.8287165760993958] - rpy: [-94.39028928313343, -17.209338442588066, 0.3071907644498025] + rpy: [-17.184284022995048, 0.9913996106124034, -94.19400566102891] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_054 xyz: [0.080324187874794, -0.11180605739355087, 0.8269708156585693] - rpy: [-95.17707873773132, 25.0171236138028, -21.04496268680013] + rpy: [26.706110654493582, 18.785235548770732, -94.95476500883017] scale: 1.0 - object_id: active_perception/omni_objects/cup/cup_033 xyz: [0.0793667584657669, 0.03589707612991333, 0.8356848955154419] - rpy: [73.97517747531721, 59.059261487375245, 163.72533890517684] + rpy: [119.6029186702373, 2.4110871043781463, -81.83298182896192] scale: 1.0 - object_id: active_perception/omni_objects/corn/corn_031 xyz: [0.012587593868374825, 0.12936708331108093, 0.8284088969230652] - rpy: [101.5712591808141, -5.097176634127458, -177.42220250087314] + rpy: [-175.52181901325042, -3.546862908477194, -101.54729338364014] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_054 xyz: [-0.08698488026857376, -0.053261253982782364, 0.8295174241065979] - rpy: [88.34424901274403, -34.06818172451939, -178.89566860176694] + rpy: [-145.91648630766798, -0.1765865611284954, -88.62847639392062] scale: 1.0 diff --git a/cfg/sim/scene_94.yaml b/cfg/sim/scene_94.yaml index d1c8251..77da811 100644 --- a/cfg/sim/scene_94.yaml +++ b/cfg/sim/scene_94.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/table/table_026 xyz: [1.9305385649204254e-05, 1.1181458830833435e-05, 0.43201759457588196] - rpy: [0.004986071233648044, 0.00028196819714576944, 90.00003864965095] + rpy: [90.00003864965109, 0.0049860710434344755, -0.00028197156059506733] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_055 xyz: [-0.04731648787856102, -0.0030226390808820724, 0.7694752216339111] - rpy: [-90.65720253219821, 4.457306744324181, -0.12398042647738308] + rpy: [4.458432474642405, 0.07289812784036422, -90.6552152797253] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_122 xyz: [0.1043674424290657, 0.003823523409664631, 0.04371459037065506] - rpy: [-89.94028252309126, 0.3484456228615852, 14.9636988541386] + rpy: [0.36440581276562617, -14.963327365878808, -89.93818764942549] scale: 1.0 - object_id: active_perception/omni_objects/waffle/waffle_041 xyz: [0.048143208026885986, -0.12947408854961395, 0.04813054949045181] - rpy: [108.78658705458508, -78.0358562488778, 168.5996555261781] + rpy: [-101.81376850108566, -6.990219287218259, -93.85659842793396] scale: 1.0 - object_id: active_perception/omni_objects/waffle/waffle_042 xyz: [0.16153986752033234, -0.19756467640399933, 0.023850973695516586] - rpy: [136.3166728247075, -62.55110031266165, 139.2453377465933] + rpy: [-110.45048723326401, -2.0202085421023246, -109.48481288157627] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_061 xyz: [0.09643960744142532, -0.018795840442180634, 0.769694447517395] - rpy: [-78.4699732544476, 63.38082902136144, 8.719694431281384] + rpy: [63.70107820353773, 1.609547207777334, -84.85975616103349] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_052 xyz: [-0.15831908583641052, 0.0505845881998539, 0.7822059392929077] - rpy: [-93.63894464901729, -41.903210649083746, 3.078305244620023] + rpy: [-41.99122069380218, -0.6454152842826825, -92.7077314217045] scale: 1.0 - object_id: active_perception/omni_objects/potato/potato_050 xyz: [-0.09899386018514633, -0.05959727242588997, 0.047647036612033844] - rpy: [-89.91323655655528, -2.8894477377435512, -10.162161346633805] + rpy: [-2.904976499813079, 10.157775944371476, -89.91196701882534] scale: 1.0 diff --git a/cfg/sim/scene_95.yaml b/cfg/sim/scene_95.yaml index c72037c..fc80320 100644 --- a/cfg/sim/scene_95.yaml +++ b/cfg/sim/scene_95.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_001 xyz: [5.94649463891983e-07, -2.60770320892334e-07, -0.027995586395263672] - rpy: [5.346554449472765e-05, -5.99434777094406e-07, 89.99999999999972] + rpy: [89.99999999999969, 5.3465544486619546e-05, 5.994347898166248e-07] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_126 xyz: [0.2042940855026245, -0.02029137685894966, 0.4271237552165985] - rpy: [-90.3630919516867, -1.0757923166001087, -5.226763629768296] + rpy: [-1.0425614655586897, 5.233475433094788, -90.364547669027] scale: 1.0 - object_id: active_perception/omni_objects/cup/cup_037 xyz: [-0.5315791964530945, 0.031075498089194298, 0.814786970615387] - rpy: [-89.66927959634988, 0.6796272479213972, 7.341375454833448] + rpy: [0.722221337847637, -7.337329697107359, -89.66657254351135] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_045 xyz: [-0.3813962936401367, -0.010762262158095837, 0.42876750230789185] - rpy: [97.62884094798422, 75.30379439023469, 94.39051107423256] + rpy: [-108.22834157631003, 86.44036067942082, 122.85043092614596] scale: 1.0 - object_id: active_perception/omni_objects/soap/soap_037 xyz: [-0.5823224782943726, -0.017122820019721985, 0.42739853262901306] - rpy: [-108.511776341796, -6.646069631444614, 89.90623948073201] + rpy: [-89.70684346427868, -71.47714628351403, -173.07595115230166] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_112 xyz: [-0.05712686479091644, -0.15480010211467743, 0.7813110947608948] - rpy: [-89.86741301961777, 4.103209820713107, 3.256174707801316] + rpy: [4.1107226289966246, -3.2466789942446965, -89.86754026614021] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_118 xyz: [-0.08118802309036255, 0.14573083817958832, 0.42992955446243286] - rpy: [-90.02356181457937, 2.083041161861455, 2.082444154658929] + rpy: [2.0821848082007834, -2.0833004016196757, -90.02356181845713] scale: 1.0 - object_id: active_perception/omni_objects/egg/egg_040 xyz: [-0.07219241559505463, -0.23321470618247986, 0.7984811663627625] - rpy: [-91.7644289006057, -9.227565856912523, 14.928822262367822] + rpy: [-9.686924765788673, -14.638881530801557, -91.80004015597486] scale: 1.0 diff --git a/cfg/sim/scene_96.yaml b/cfg/sim/scene_96.yaml index 269dc47..1c12883 100644 --- a/cfg/sim/scene_96.yaml +++ b/cfg/sim/scene_96.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/picnic/picnic_basket_010 xyz: [-0.00011451132013462484, -0.0029473481699824333, 0.13037455081939697] - rpy: [-0.1889764433576518, 1.807952193489841, 86.45070730277466] + rpy: [86.4524732505096, -0.07670751588594593, -1.816179865628382] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_040 xyz: [0.005335865076631308, -0.00430641882121563, -483.988037109375] - rpy: [-89.86820875169025, 1.4865428214304328, 2.0664660057113395] + rpy: [1.4912926048209734, -2.0630415942130957, -89.8681676558108] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_030 xyz: [-0.04198644682765007, 0.05416711047291756, 0.06757911294698715] - rpy: [-46.965821285668156, -17.96413315838279, -1.1662722883432277] + rpy: [-14.12239962384469, -11.277224093404419, -48.55152787225877] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_038 xyz: [0.061694659292697906, -0.017318617552518845, 0.08923119306564331] - rpy: [-32.74323451338589, -67.79322708080213, 135.5963194140108] + rpy: [105.9259109328957, 10.246308235481022, 71.15270923581545] scale: 1.0 - object_id: active_perception/omni_objects/carrot/carrot_040 xyz: [0.04834108054637909, -0.007502344436943531, -456.2336120605469] - rpy: [-89.74846283703071, 0.3379612758073795, -0.38310191885866585] + rpy: [0.3362761528215424, 0.38458191498799976, -89.74846154646943] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_041 xyz: [0.07092751562595367, 0.01198418065905571, 0.09006943553686142] - rpy: [62.26070305910298, 26.175636147331304, 132.18156792257236] + rpy: [134.78905196794756, 31.19746704025883, -60.768792221371534] scale: 1.0 - object_id: active_perception/omni_objects/apple/apple_067 xyz: [-0.022755417972803116, -0.004508165642619133, 0.1089572086930275] - rpy: [-43.37800501876095, -6.692533125352473, -21.793790298725295] + rpy: [-20.465971483153098, 10.156479240660538, -42.82968541031785] scale: 1.0 - object_id: active_perception/omni_objects/lipstick/lipstick_031 xyz: [-0.003896786831319332, 0.005904720164835453, -427.6952209472656] - rpy: [-90.0, -7.970845973310922e-07, 2.9713804480688954e-07] + rpy: [-7.970845846088735e-07, -2.9713805411717653e-07, -90.0] scale: 1.0 diff --git a/cfg/sim/scene_97.yaml b/cfg/sim/scene_97.yaml index 43690f6..db0d73b 100644 --- a/cfg/sim/scene_97.yaml +++ b/cfg/sim/scene_97.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/table/table_026 xyz: [1.019798219203949e-07, -1.6670674085617065e-07, 0.4490084946155548] - rpy: [-4.810806056473641e-06, -1.416829939893672e-05, 89.99999034065428] + rpy: [89.99999034065426, -4.8108084394310275e-06, 1.416829859743694e-05] scale: 1.0 - object_id: active_perception/omni_objects/garlic/garlic_032 xyz: [0.05509336665272713, -0.06061878427863121, 0.7680295705795288] - rpy: [-86.71419850313434, 11.34516397285041, 3.2499844522980164] + rpy: [11.509735831539322, -2.598806460740039, -86.77515161265802] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_110 xyz: [-0.04028870165348053, -0.0886726900935173, 0.05963369831442833] - rpy: [-88.72016870738243, -12.95976287373628, -14.887681160983558] + rpy: [-13.287750610531843, 14.597076248678663, -88.71116643198376] scale: 1.0 - object_id: active_perception/omni_objects/lemon/lemon_029 xyz: [0.019057437777519226, -0.04078104346990585, 0.7937542796134949] - rpy: [-114.68081928887925, -51.816045247377126, 46.505404116513056] + rpy: [-61.829174320648576, -25.674738475227375, -106.64316942034462] scale: 1.0 - object_id: active_perception/omni_objects/ginger/ginger_039 xyz: [-0.1460227221250534, -0.004384148865938187, 0.7811696529388428] - rpy: [-84.06695277786372, -11.488948735716557, 2.783240714308409] + rpy: [-11.146480930318344, -3.948603797412875, -84.17236509325657] scale: 1.0 - object_id: active_perception/omni_objects/pear/pear_037 xyz: [0.10961853712797165, 0.037874702364206314, 0.09003868699073792] - rpy: [-99.63067789245912, 37.77034199081967, -18.21447813000105] + rpy: [39.8137050626246, 12.17130460982085, -97.77506122168894] scale: 1.0 - object_id: active_perception/omni_objects/pear/pear_038 xyz: [0.2433578073978424, -0.08943427354097366, 0.7803506851196289] - rpy: [-88.82243145034553, 5.527193633699167, -2.249185171466992] + rpy: [5.4799980545009745, 2.3621276268342952, -88.826910284416] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_115 xyz: [0.1115315780043602, -0.12298978865146637, 0.050910644233226776] - rpy: [77.87214168737572, 20.480388323603506, 175.22568325697935] + rpy: [158.99871090385543, 0.465217976755253, -78.6488891695259] scale: 1.0 diff --git a/cfg/sim/scene_98.yaml b/cfg/sim/scene_98.yaml index 3a7ccb6..839873c 100644 --- a/cfg/sim/scene_98.yaml +++ b/cfg/sim/scene_98.yaml @@ -5,40 +5,40 @@ objects: - object_id: active_perception/omni_objects/flower/flower_pot_022 xyz: [0.0015584069769829512, -0.00016542509547434747, 0.05799773707985878] - rpy: [-0.1912170532617636, -1.4683248757171952, 89.72894216760326] + rpy: [89.72902955116953, -0.19816055578695857, 1.4674041288472215] scale: 1.0 - object_id: active_perception/omni_objects/peanut/peanut_028 xyz: [-0.03234339505434036, -0.004587495233863592, 0.021179266273975372] - rpy: [-75.65087962293036, -28.426299732601557, -38.23441458372705] + rpy: [-36.73911531373726, 30.458009296770104, -75.35432740335314] scale: 1.0 - object_id: active_perception/omni_objects/carrot/carrot_040 xyz: [-0.009621236473321915, -0.025224080309271812, 0.019394075497984886] - rpy: [160.66667486257927, -69.33799486206999, 82.50500307789065] + rpy: [-87.0565663824699, 26.321126873026145, -111.80626087885065] scale: 1.0 - object_id: active_perception/omni_objects/popcorn/popcorn_040 xyz: [0.02337067760527134, -0.030150659382343292, 0.015019532293081284] - rpy: [141.16725742750282, -42.62871432473759, -156.47993915586986] + rpy: [-173.36148526352494, -47.22000644511314, -147.5505187189262] scale: 1.0 - object_id: active_perception/omni_objects/shrimp/shrimp_042 xyz: [-0.00573580851778388, 0.025587432086467743, 0.027294309809803963] - rpy: [-157.54371632783776, -74.1850187514347, 1.9369011332228327] + rpy: [-55.65028952117144, 61.13622555025349, -121.45003792460948] scale: 1.0 - object_id: active_perception/omni_objects/walnut/walnut_038 xyz: [-0.0095298420637846, 0.020787889137864113, 0.017452221363782883] - rpy: [-82.06834523895249, -79.80307710529402, -54.33844091446815] + rpy: [-81.37480596529944, 46.5124736434905, -87.9657422525065] scale: 1.0 - object_id: active_perception/omni_objects/walnut/walnut_039 xyz: [0.02535301446914673, 0.008759889751672745, 0.027046162635087967] - rpy: [-145.11166131189745, 63.01954255898113, 13.553434085452865] + rpy: [34.515188874083904, -57.63756452247121, -134.04655811980592] scale: 1.0 - object_id: active_perception/omni_objects/garlic/garlic_033 xyz: [-0.0038876936305314302, -0.003299699630588293, 0.021635137498378754] - rpy: [-110.93935326906644, 21.36151526192493, 0.5192189793838057] + rpy: [19.89080972761285, -7.96881719938212, -109.63780407389774] scale: 1.0 diff --git a/cfg/sim/scene_99.yaml b/cfg/sim/scene_99.yaml index ffb446b..3ff7add 100644 --- a/cfg/sim/scene_99.yaml +++ b/cfg/sim/scene_99.yaml @@ -5,30 +5,30 @@ objects: - object_id: active_perception/omni_objects/blender/blender_cabinet_009 xyz: [4.654284566640854e-06, 1.12876296043396e-05, -0.016544461250305176] - rpy: [-3.2989553635665893e-06, 0.037202245869601636, 89.91797282322023] + rpy: [89.91797284051121, 4.996140973897241e-05, -0.03720221246754359] scale: 1.0 - object_id: active_perception/omni_objects/biscuit/biscuit_129 xyz: [0.12370025366544724, -0.04444575682282448, 0.4905914068222046] - rpy: [-90.24682323947836, 1.811950033964726, 1.18749440715268] + rpy: [1.806819477933002, -1.1952877328433005, -90.24675351725884] scale: 1.0 - object_id: active_perception/omni_objects/bottle/bottle_058 xyz: [-0.3175164759159088, -0.023932067677378654, 0.63758385181427] - rpy: [-71.01497968934207, -2.197679140573226, 14.078263559198732] + rpy: [2.596914044351794, -14.011449865621312, -70.42440396468206] scale: 1.0 - object_id: active_perception/omni_objects/lipstick/lipstick_028 xyz: [-0.3371700048446655, -0.06648455560207367, 0.48879382014274597] - rpy: [106.99367875718377, 60.660511924969704, 179.67002692297555] + rpy: [120.49519726665893, 15.08674431298806, -98.52944492071452] scale: 1.0 - object_id: active_perception/omni_objects/ginger/ginger_035 xyz: [-0.0916185975074768, 0.11218777298927307, 1.208400845527649] - rpy: [-44.023723898363905, -0.9371504585731709, -174.29968853343675] + rpy: [-176.54259076851764, 4.630471455634429, 43.837239066580096] scale: 1.0 - object_id: active_perception/omni_objects/cup/cup_034 xyz: [-0.19892971217632294, 0.025703903287649155, 1.2335636615753174] - rpy: [-116.59947992522142, 18.8985379009959, -1.4070551932796318] + rpy: [17.627026268654145, -7.06662940287984, -115.26825250951892] scale: 1.0 diff --git a/cfg/xyz_sim/scene_0.yaml b/cfg/xyz_sim/scene_0.yaml new file mode 100644 index 0000000..badf2b8 --- /dev/null +++ b/cfg/xyz_sim/scene_0.yaml @@ -0,0 +1,44 @@ + +center: [0.65, 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: [4.64986078441143e-06, 1.1311843991279602e-05, -0.016544461250305176] + rpy: [-3.890340757683333e-06, 0.03720095823628773, 89.91796798989898] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_060 + xyz: [-0.3377646803855896, 0.11278793215751648, 0.11467006057500839] + rpy: [118.07257095329169, -17.721830472813895, 165.24649291958784] + scale: 1.0 + +- object_id: active_perception/omni_objects/pear/pear_037 + xyz: [-0.3260464072227478, 0.03416014835238457, 0.12631379067897797] + rpy: [-48.22722583509287, 64.63320766249008, 47.876707855121765] + scale: 1.0 + +- object_id: active_perception/omni_objects/pear/pear_035 + xyz: [-0.25687548518180847, -0.034766729921102524, 0.10207981616258621] + rpy: [-94.59622371415126, 0.37623224849990594, -92.33892377028123] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_063 + xyz: [0.025610506534576416, 0.08303676545619965, 0.11088347434997559] + rpy: [-93.34928774277378, 39.69653614014154, -4.526670839259127] + scale: 1.0 + +- object_id: active_perception/omni_objects/garlic/garlic_033 + xyz: [-0.08226469159126282, 0.0870445966720581, 0.09662999212741852] + rpy: [-90.38067148609004, 7.495002041739577, -5.102582322216595] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_061 + xyz: [0.22411133348941803, -0.055237896740436554, 0.09414366632699966] + rpy: [-90.1703276971415, 7.695877525082848, -0.09848045365107609] + scale: 1.0 + +- object_id: active_perception/omni_objects/waffle/waffle_042 + xyz: [-0.1430458426475525, -0.016264157369732857, 0.13158491253852844] + rpy: [-92.35109269914692, -1.3781727753172388, -0.8499572253493096] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_1.yaml b/cfg/xyz_sim/scene_1.yaml new file mode 100644 index 0000000..4880c89 --- /dev/null +++ b/cfg/xyz_sim/scene_1.yaml @@ -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_027 + xyz: [0.0010374169796705246, -0.0069223493337631226, 0.5168523788452148] + rpy: [-0.0024637965400675, -0.1442944922368261, 89.14276603175097] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_046 + xyz: [-0.12078018486499786, -0.10749435424804688, 0.8585910797119141] + rpy: [-89.61072501969137, 4.587986949850374, -10.273497129618452] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_116 + xyz: [0.03019426204264164, 0.28699105978012085, 0.8501646518707275] + rpy: [133.91096750918834, -1.6565090561062554, -3.4573572359079443] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_040 + xyz: [-0.09473028033971786, 0.4400838017463684, 0.8657305240631104] + rpy: [-89.95190211800964, 15.775554328222162, -12.971046206785081] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_061 + xyz: [0.07441169768571854, 0.46750664710998535, 0.8783947825431824] + rpy: [-74.468997277914, 66.64487787995446, 8.405348930148477] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_10.yaml b/cfg/xyz_sim/scene_10.yaml new file mode 100644 index 0000000..55073b1 --- /dev/null +++ b/cfg/xyz_sim/scene_10.yaml @@ -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: [0.00011250749230384827, -0.0012790709733963013, 0.42605704069137573] + rpy: [-0.005765722830020446, -0.0164106630230235, 89.84075197412332] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_039 + xyz: [-0.034191351383924484, 0.3968554139137268, 0.7598503828048706] + rpy: [-179.61877980675678, -84.29259657733192, 124.80951678530789] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_044 + xyz: [0.10647960752248764, 0.29765817523002625, 0.7743821144104004] + rpy: [-88.48399247170794, -7.115042097096817, -14.620474827238613] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_122 + xyz: [0.11082173883914948, -0.25146540999412537, 0.7569476962089539] + rpy: [-129.7921183125197, 1.6486297165682808, -1.3512043823043858] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_045 + xyz: [0.1866931915283203, -0.22537861764431, 0.7763093113899231] + rpy: [-143.35303937178753, -15.124144186236883, 97.76556084699185] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_126 + xyz: [-0.15704573690891266, -0.39097821712493896, 0.7579376697540283] + rpy: [-89.96856762707291, -2.4243436852019573, -1.2532473273119482] + scale: 1.0 + +- object_id: active_perception/omni_objects/tomato/tomato_030 + xyz: [0.0631551444530487, -0.03531681001186371, 0.7705153822898865] + rpy: [-55.30420854250822, 30.343779809461168, 112.46407656838485] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_100.yaml b/cfg/xyz_sim/scene_100.yaml new file mode 100644 index 0000000..642880c --- /dev/null +++ b/cfg/xyz_sim/scene_100.yaml @@ -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, 0.06587576121091843] + rpy: [-0.12304522966534465, 1.9469665651636454, 86.95744150032412] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_105 + xyz: [-0.0017132123466581106, -0.016988083720207214, 0.018578030169010162] + rpy: [-91.62953209424012, -4.144386653707507, 0.36326617994296895] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_042 + xyz: [0.0078016603365540504, 0.02739977091550827, 0.02571101114153862] + rpy: [91.67900194892682, -45.54381128981898, 76.60770464363894] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_047 + xyz: [0.04295744001865387, -0.023585429415106773, 0.02402724325656891] + rpy: [-164.73216399910453, -34.36496509851416, -19.224443539094104] + scale: 1.0 + +- object_id: active_perception/omni_objects/cup/cup_039 + xyz: [-0.03366504982113838, -0.03810783475637436, 0.027493562549352646] + rpy: [-121.91782759320381, -57.53090093233096, 2.823489424479598] + scale: 1.0 + +- object_id: active_perception/omni_objects/ginger/ginger_040 + xyz: [-0.007851741276681423, -0.04602106660604477, 0.06372369825839996] + rpy: [-74.6432906656066, 65.79201984813415, 34.65958562028854] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_037 + xyz: [0.04913321137428284, 0.02927616611123085, 0.041648078709840775] + rpy: [-100.56627916909419, 50.3191140958404, -13.33854832260954] + scale: 1.0 + +- object_id: active_perception/omni_objects/walnut/walnut_038 + xyz: [0.06725450605154037, -0.007227347232401371, 0.023078378289937973] + rpy: [162.88895335643622, 64.84908063700206, 22.421616736296286] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_101.yaml b/cfg/xyz_sim/scene_101.yaml new file mode 100644 index 0000000..1ef8c68 --- /dev/null +++ b/cfg/xyz_sim/scene_101.yaml @@ -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_026 + xyz: [-0.009905957616865635, -0.0006897700950503349, 0.2330494225025177] + rpy: [0.10565063351332064, 1.918193594023763, 89.85146259900137] + scale: 1.0 + +- object_id: active_perception/omni_objects/ginger/ginger_039 + xyz: [0.02515360713005066, -0.06371907144784927, 0.27924156188964844] + rpy: [-24.917503569186394, -17.108886197782336, 3.671548893435011] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_037 + xyz: [0.03158880025148392, -0.033288054168224335, 0.0037636063061654568] + rpy: [51.80609796168332, 19.66309287247925, -24.55551874939152] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_045 + xyz: [-0.1293104588985443, -0.0777326375246048, 0.0003228990244679153] + rpy: [-108.9905414383184, 75.30141461130232, 94.38432988044723] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_120 + xyz: [0.04060060530900955, 0.0793246328830719, 0.2613307535648346] + rpy: [-89.61567032347179, -5.380350667912583, -3.2477991654026406] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_060 + xyz: [0.10124217718839645, -0.04856496304273605, 0.02158781886100769] + rpy: [-152.42669250550992, -11.06313485369464, 165.87371771072304] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_043 + xyz: [0.09215854853391647, -0.021680809557437897, 0.27092188596725464] + rpy: [-93.7090785739682, -81.5059436185168, -93.72407821248427] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_037 + xyz: [-0.06733741611242294, -0.047576259821653366, 0.2778187692165375] + rpy: [-110.97518895656954, 78.22997206690246, -97.38946941123596] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_102.yaml b/cfg/xyz_sim/scene_102.yaml new file mode 100644 index 0000000..0733ba3 --- /dev/null +++ b/cfg/xyz_sim/scene_102.yaml @@ -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: [-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 diff --git a/cfg/xyz_sim/scene_103.yaml b/cfg/xyz_sim/scene_103.yaml new file mode 100644 index 0000000..7d57a71 --- /dev/null +++ b/cfg/xyz_sim/scene_103.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_104.yaml b/cfg/xyz_sim/scene_104.yaml new file mode 100644 index 0000000..cd125d4 --- /dev/null +++ b/cfg/xyz_sim/scene_104.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_105.yaml b/cfg/xyz_sim/scene_105.yaml new file mode 100644 index 0000000..5c88684 --- /dev/null +++ b/cfg/xyz_sim/scene_105.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_106.yaml b/cfg/xyz_sim/scene_106.yaml new file mode 100644 index 0000000..cdfca32 --- /dev/null +++ b/cfg/xyz_sim/scene_106.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_107.yaml b/cfg/xyz_sim/scene_107.yaml new file mode 100644 index 0000000..a5373c1 --- /dev/null +++ b/cfg/xyz_sim/scene_107.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_108.yaml b/cfg/xyz_sim/scene_108.yaml new file mode 100644 index 0000000..80ee2e5 --- /dev/null +++ b/cfg/xyz_sim/scene_108.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_109.yaml b/cfg/xyz_sim/scene_109.yaml new file mode 100644 index 0000000..f32b250 --- /dev/null +++ b/cfg/xyz_sim/scene_109.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_11.yaml b/cfg/xyz_sim/scene_11.yaml new file mode 100644 index 0000000..4fcc7a9 --- /dev/null +++ b/cfg/xyz_sim/scene_11.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_110.yaml b/cfg/xyz_sim/scene_110.yaml new file mode 100644 index 0000000..58b4f08 --- /dev/null +++ b/cfg/xyz_sim/scene_110.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_111.yaml b/cfg/xyz_sim/scene_111.yaml new file mode 100644 index 0000000..5198f7d --- /dev/null +++ b/cfg/xyz_sim/scene_111.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_112.yaml b/cfg/xyz_sim/scene_112.yaml new file mode 100644 index 0000000..b91f079 --- /dev/null +++ b/cfg/xyz_sim/scene_112.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_113.yaml b/cfg/xyz_sim/scene_113.yaml new file mode 100644 index 0000000..d9a8d32 --- /dev/null +++ b/cfg/xyz_sim/scene_113.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_114.yaml b/cfg/xyz_sim/scene_114.yaml new file mode 100644 index 0000000..b8c1e39 --- /dev/null +++ b/cfg/xyz_sim/scene_114.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_115.yaml b/cfg/xyz_sim/scene_115.yaml new file mode 100644 index 0000000..df76139 --- /dev/null +++ b/cfg/xyz_sim/scene_115.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_116.yaml b/cfg/xyz_sim/scene_116.yaml new file mode 100644 index 0000000..18fda49 --- /dev/null +++ b/cfg/xyz_sim/scene_116.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_117.yaml b/cfg/xyz_sim/scene_117.yaml new file mode 100644 index 0000000..9be1ecf --- /dev/null +++ b/cfg/xyz_sim/scene_117.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_118.yaml b/cfg/xyz_sim/scene_118.yaml new file mode 100644 index 0000000..a0ea617 --- /dev/null +++ b/cfg/xyz_sim/scene_118.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_119.yaml b/cfg/xyz_sim/scene_119.yaml new file mode 100644 index 0000000..367a447 --- /dev/null +++ b/cfg/xyz_sim/scene_119.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_12.yaml b/cfg/xyz_sim/scene_12.yaml new file mode 100644 index 0000000..1fe22bd --- /dev/null +++ b/cfg/xyz_sim/scene_12.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_120.yaml b/cfg/xyz_sim/scene_120.yaml new file mode 100644 index 0000000..8451279 --- /dev/null +++ b/cfg/xyz_sim/scene_120.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_121.yaml b/cfg/xyz_sim/scene_121.yaml new file mode 100644 index 0000000..5a6705b --- /dev/null +++ b/cfg/xyz_sim/scene_121.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_122.yaml b/cfg/xyz_sim/scene_122.yaml new file mode 100644 index 0000000..2b6e634 --- /dev/null +++ b/cfg/xyz_sim/scene_122.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_123.yaml b/cfg/xyz_sim/scene_123.yaml new file mode 100644 index 0000000..0bce9ad --- /dev/null +++ b/cfg/xyz_sim/scene_123.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_124.yaml b/cfg/xyz_sim/scene_124.yaml new file mode 100644 index 0000000..031e578 --- /dev/null +++ b/cfg/xyz_sim/scene_124.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_125.yaml b/cfg/xyz_sim/scene_125.yaml new file mode 100644 index 0000000..92681ac --- /dev/null +++ b/cfg/xyz_sim/scene_125.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_126.yaml b/cfg/xyz_sim/scene_126.yaml new file mode 100644 index 0000000..16b1705 --- /dev/null +++ b/cfg/xyz_sim/scene_126.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_127.yaml b/cfg/xyz_sim/scene_127.yaml new file mode 100644 index 0000000..3b489f9 --- /dev/null +++ b/cfg/xyz_sim/scene_127.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_128.yaml b/cfg/xyz_sim/scene_128.yaml new file mode 100644 index 0000000..1e7f4d3 --- /dev/null +++ b/cfg/xyz_sim/scene_128.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_129.yaml b/cfg/xyz_sim/scene_129.yaml new file mode 100644 index 0000000..e112e32 --- /dev/null +++ b/cfg/xyz_sim/scene_129.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_13.yaml b/cfg/xyz_sim/scene_13.yaml new file mode 100644 index 0000000..7ec1527 --- /dev/null +++ b/cfg/xyz_sim/scene_13.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_130.yaml b/cfg/xyz_sim/scene_130.yaml new file mode 100644 index 0000000..5af5c4d --- /dev/null +++ b/cfg/xyz_sim/scene_130.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_131.yaml b/cfg/xyz_sim/scene_131.yaml new file mode 100644 index 0000000..bcde153 --- /dev/null +++ b/cfg/xyz_sim/scene_131.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_132.yaml b/cfg/xyz_sim/scene_132.yaml new file mode 100644 index 0000000..ce3af2b --- /dev/null +++ b/cfg/xyz_sim/scene_132.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_133.yaml b/cfg/xyz_sim/scene_133.yaml new file mode 100644 index 0000000..ef0506e --- /dev/null +++ b/cfg/xyz_sim/scene_133.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_134.yaml b/cfg/xyz_sim/scene_134.yaml new file mode 100644 index 0000000..851ae02 --- /dev/null +++ b/cfg/xyz_sim/scene_134.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_135.yaml b/cfg/xyz_sim/scene_135.yaml new file mode 100644 index 0000000..5c5266d --- /dev/null +++ b/cfg/xyz_sim/scene_135.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_136.yaml b/cfg/xyz_sim/scene_136.yaml new file mode 100644 index 0000000..74fa327 --- /dev/null +++ b/cfg/xyz_sim/scene_136.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_137.yaml b/cfg/xyz_sim/scene_137.yaml new file mode 100644 index 0000000..cc8d468 --- /dev/null +++ b/cfg/xyz_sim/scene_137.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_138.yaml b/cfg/xyz_sim/scene_138.yaml new file mode 100644 index 0000000..980a45f --- /dev/null +++ b/cfg/xyz_sim/scene_138.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_139.yaml b/cfg/xyz_sim/scene_139.yaml new file mode 100644 index 0000000..05a63cb --- /dev/null +++ b/cfg/xyz_sim/scene_139.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_14.yaml b/cfg/xyz_sim/scene_14.yaml new file mode 100644 index 0000000..31f67b0 --- /dev/null +++ b/cfg/xyz_sim/scene_14.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_140.yaml b/cfg/xyz_sim/scene_140.yaml new file mode 100644 index 0000000..89a6e04 --- /dev/null +++ b/cfg/xyz_sim/scene_140.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_141.yaml b/cfg/xyz_sim/scene_141.yaml new file mode 100644 index 0000000..094a61d --- /dev/null +++ b/cfg/xyz_sim/scene_141.yaml @@ -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, 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index 0000000..5bf0555 --- /dev/null +++ b/cfg/xyz_sim/scene_142.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_143.yaml b/cfg/xyz_sim/scene_143.yaml new file mode 100644 index 0000000..70ed401 --- /dev/null +++ b/cfg/xyz_sim/scene_143.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_144.yaml b/cfg/xyz_sim/scene_144.yaml new file mode 100644 index 0000000..ea33e4c --- /dev/null +++ b/cfg/xyz_sim/scene_144.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_145.yaml b/cfg/xyz_sim/scene_145.yaml new file mode 100644 index 0000000..d2ca6be --- /dev/null +++ b/cfg/xyz_sim/scene_145.yaml @@ -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, 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100644 index 0000000..c8a86b7 --- /dev/null +++ b/cfg/xyz_sim/scene_146.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_147.yaml b/cfg/xyz_sim/scene_147.yaml new file mode 100644 index 0000000..545755d --- /dev/null +++ b/cfg/xyz_sim/scene_147.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_148.yaml b/cfg/xyz_sim/scene_148.yaml new file mode 100644 index 0000000..2d19950 --- /dev/null +++ b/cfg/xyz_sim/scene_148.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_149.yaml b/cfg/xyz_sim/scene_149.yaml new file mode 100644 index 0000000..10407ba --- /dev/null +++ b/cfg/xyz_sim/scene_149.yaml @@ -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, 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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 diff --git a/cfg/xyz_sim/scene_15.yaml b/cfg/xyz_sim/scene_15.yaml new file mode 100644 index 0000000..9d63c23 --- /dev/null +++ b/cfg/xyz_sim/scene_15.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_150.yaml b/cfg/xyz_sim/scene_150.yaml new file mode 100644 index 0000000..62d2a5e --- /dev/null +++ b/cfg/xyz_sim/scene_150.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_151.yaml b/cfg/xyz_sim/scene_151.yaml new file mode 100644 index 0000000..0b9c7f4 --- /dev/null +++ b/cfg/xyz_sim/scene_151.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_152.yaml b/cfg/xyz_sim/scene_152.yaml new file mode 100644 index 0000000..ab2fee6 --- /dev/null +++ b/cfg/xyz_sim/scene_152.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_153.yaml b/cfg/xyz_sim/scene_153.yaml new file mode 100644 index 0000000..a827aff --- /dev/null +++ b/cfg/xyz_sim/scene_153.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_154.yaml b/cfg/xyz_sim/scene_154.yaml new file mode 100644 index 0000000..e0f2b64 --- /dev/null +++ b/cfg/xyz_sim/scene_154.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_155.yaml b/cfg/xyz_sim/scene_155.yaml new file mode 100644 index 0000000..b722d7f --- /dev/null +++ b/cfg/xyz_sim/scene_155.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_156.yaml b/cfg/xyz_sim/scene_156.yaml new file mode 100644 index 0000000..ff4fde9 --- /dev/null +++ b/cfg/xyz_sim/scene_156.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_157.yaml b/cfg/xyz_sim/scene_157.yaml new file mode 100644 index 0000000..6a41738 --- /dev/null +++ b/cfg/xyz_sim/scene_157.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_158.yaml b/cfg/xyz_sim/scene_158.yaml new file mode 100644 index 0000000..cbf1aaa --- /dev/null +++ b/cfg/xyz_sim/scene_158.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_159.yaml b/cfg/xyz_sim/scene_159.yaml new file mode 100644 index 0000000..d40fdd6 --- /dev/null +++ b/cfg/xyz_sim/scene_159.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_16.yaml b/cfg/xyz_sim/scene_16.yaml new file mode 100644 index 0000000..2050fda --- /dev/null +++ b/cfg/xyz_sim/scene_16.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_160.yaml b/cfg/xyz_sim/scene_160.yaml new file mode 100644 index 0000000..445c41f --- /dev/null +++ b/cfg/xyz_sim/scene_160.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_161.yaml b/cfg/xyz_sim/scene_161.yaml new file mode 100644 index 0000000..b184f6d --- /dev/null +++ b/cfg/xyz_sim/scene_161.yaml @@ -0,0 +1,39 @@ + +center: [0.45, 0.0, 0.0] 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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 diff --git a/cfg/xyz_sim/scene_162.yaml b/cfg/xyz_sim/scene_162.yaml new file mode 100644 index 0000000..8ebac66 --- /dev/null +++ b/cfg/xyz_sim/scene_162.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_163.yaml b/cfg/xyz_sim/scene_163.yaml new file mode 100644 index 0000000..03a689b --- /dev/null +++ b/cfg/xyz_sim/scene_163.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_164.yaml b/cfg/xyz_sim/scene_164.yaml new file mode 100644 index 0000000..8c122f2 --- /dev/null +++ b/cfg/xyz_sim/scene_164.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_165.yaml b/cfg/xyz_sim/scene_165.yaml new file mode 100644 index 0000000..5fde387 --- /dev/null +++ b/cfg/xyz_sim/scene_165.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_166.yaml b/cfg/xyz_sim/scene_166.yaml new file mode 100644 index 0000000..4eb8da4 --- /dev/null +++ b/cfg/xyz_sim/scene_166.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_167.yaml b/cfg/xyz_sim/scene_167.yaml new file mode 100644 index 0000000..c1b9676 --- /dev/null +++ b/cfg/xyz_sim/scene_167.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_168.yaml b/cfg/xyz_sim/scene_168.yaml new file mode 100644 index 0000000..921ac44 --- /dev/null +++ b/cfg/xyz_sim/scene_168.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_169.yaml b/cfg/xyz_sim/scene_169.yaml new file mode 100644 index 0000000..e4908e9 --- /dev/null +++ b/cfg/xyz_sim/scene_169.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_17.yaml b/cfg/xyz_sim/scene_17.yaml new file mode 100644 index 0000000..324bcf3 --- /dev/null +++ b/cfg/xyz_sim/scene_17.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_170.yaml b/cfg/xyz_sim/scene_170.yaml new file mode 100644 index 0000000..5d58c19 --- /dev/null +++ b/cfg/xyz_sim/scene_170.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_171.yaml b/cfg/xyz_sim/scene_171.yaml new file mode 100644 index 0000000..7ed63be --- /dev/null +++ b/cfg/xyz_sim/scene_171.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_172.yaml b/cfg/xyz_sim/scene_172.yaml new file mode 100644 index 0000000..994c0d7 --- /dev/null +++ b/cfg/xyz_sim/scene_172.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_173.yaml b/cfg/xyz_sim/scene_173.yaml new file mode 100644 index 0000000..f2af952 --- /dev/null +++ b/cfg/xyz_sim/scene_173.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_174.yaml b/cfg/xyz_sim/scene_174.yaml new file mode 100644 index 0000000..11245be --- /dev/null +++ b/cfg/xyz_sim/scene_174.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_175.yaml b/cfg/xyz_sim/scene_175.yaml new file mode 100644 index 0000000..fe93009 --- /dev/null +++ b/cfg/xyz_sim/scene_175.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_176.yaml b/cfg/xyz_sim/scene_176.yaml new file mode 100644 index 0000000..8b92ff1 --- /dev/null +++ b/cfg/xyz_sim/scene_176.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_177.yaml b/cfg/xyz_sim/scene_177.yaml new file mode 100644 index 0000000..3d1d885 --- /dev/null +++ b/cfg/xyz_sim/scene_177.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_178.yaml b/cfg/xyz_sim/scene_178.yaml new file mode 100644 index 0000000..c2c9e55 --- /dev/null +++ b/cfg/xyz_sim/scene_178.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_179.yaml b/cfg/xyz_sim/scene_179.yaml new file mode 100644 index 0000000..6e002cd --- /dev/null +++ b/cfg/xyz_sim/scene_179.yaml @@ -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 diff --git a/cfg/xyz_sim/scene_18.yaml b/cfg/xyz_sim/scene_18.yaml new file mode 100644 index 0000000..42d92fc --- /dev/null +++ b/cfg/xyz_sim/scene_18.yaml @@ -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_027 + xyz: [-0.0006448607891798019, 0.001766100525856018, 0.5201078057289124] + rpy: [-0.15156778854851508, -0.12079690350746845, 90.13117452191096] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_040 + xyz: [-0.08927050232887268, -0.1140391007065773, 0.851281464099884] + rpy: [-107.27428525613796, -81.01425187012624, 157.47745505888182] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_115 + xyz: [-0.14044073224067688, 0.029028883203864098, 0.8513619303703308] + rpy: [-78.97120558875511, 49.30008560032412, 0.3206772464266765] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_041 + xyz: [-0.1704012006521225, -0.07082629948854446, 0.8597419261932373] + rpy: [156.666455741744, 80.05751657322321, -102.09442783263339] + scale: 1.0 + +- object_id: active_perception/omni_objects/lemon/lemon_030 + xyz: [0.1232769563794136, -0.2912765443325043, 0.876267671585083] + rpy: [-90.69629087591525, 15.641370437678678, -1.2769057438064422] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_126 + xyz: [-0.021710237488150597, -0.27190449833869934, 0.8526045680046082] + rpy: [24.527143782306766, -83.92829419143148, -118.59965663822351] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_180.yaml b/cfg/xyz_sim/scene_180.yaml new file mode 100644 index 0000000..e7c2554 --- /dev/null +++ b/cfg/xyz_sim/scene_180.yaml @@ -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: [5.890615284442902e-07, -1.0244548320770264e-06, 0.016625702381134033] + rpy: [-4.760590878566495e-05, 1.7237310106666284e-06, 90.00001448901693] + scale: 1.0 + +- object_id: active_perception/omni_objects/ginger/ginger_039 + xyz: [-0.16588082909584045, -0.23579242825508118, 0.485392302274704] + rpy: [83.5095078191622, -2.6129625479719114, 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0.1816944181919098, 0.8287286162376404] + rpy: [-88.42268486256425, -0.008973843174304835, -0.005595421312692903] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_057 + xyz: [0.09937018901109695, 0.0767715647816658, 0.8555854558944702] + rpy: [93.60154372879344, -59.617766806775975, 177.25474218244682] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_181.yaml b/cfg/xyz_sim/scene_181.yaml new file mode 100644 index 0000000..da0c1bd --- /dev/null +++ b/cfg/xyz_sim/scene_181.yaml @@ -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: [0.0002873716875910759, 0.0021202005445957184, 0.22824016213417053] + rpy: [-0.13529860946083958, -0.011945689299803204, 90.63610988905364] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_055 + xyz: [0.054321855306625366, 0.134438157081604, 0.5262848734855652] + rpy: [-90.73319057674787, 6.970024732019511, -0.07784557570378148] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_037 + xyz: [0.08181823790073395, 0.06563004106283188, 0.510945200920105] + rpy: [-96.51564690027014, 11.78552027488903, 21.778770837242305] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_054 + xyz: [-0.13919207453727722, 0.14112351834774017, 0.5291820764541626] + rpy: [-90.56363606623157, 4.805765889844842, -18.909170223437865] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_040 + xyz: [-0.015571066178381443, -0.07294037193059921, 0.5169457197189331] + rpy: [-88.82507570556535, 19.428252842825323, -11.036490161355987] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_030 + xyz: [-0.09797776490449905, 0.17970307171344757, 0.5063158869743347] + rpy: [-147.503431304734, -83.7351275518135, 51.24695154972831] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_182.yaml b/cfg/xyz_sim/scene_182.yaml new file mode 100644 index 0000000..740f041 --- /dev/null +++ b/cfg/xyz_sim/scene_182.yaml @@ -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/chair/chair_026 + xyz: [-0.010007977485656738, -0.0005495692603290081, 0.23304176330566406] + rpy: [0.10411447308654097, 1.9458887320265992, 89.88378148564072] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_105 + xyz: [0.07614580541849136, -0.03768926113843918, 0.2711566090583801] + rpy: [-65.18433033999618, 1.2111707833633754, 3.796400214533051] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_129 + xyz: [0.03366722911596298, -0.11323715001344681, 0.2943161427974701] + rpy: [-105.9280967757297, -43.69660924847247, -171.90464506899517] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_114 + xyz: [0.11452307552099228, 0.048373471945524216, 0.27155953645706177] + rpy: [-66.46608790771748, -9.960425943943509, -9.658704011047924] + scale: 1.0 + +- object_id: active_perception/omni_objects/ginger/ginger_035 + xyz: [0.09500385820865631, 0.00869338121265173, 0.28775548934936523] + rpy: [-78.64093929140365, -2.2142627914432325, 0.7153678296474681] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_060 + xyz: [0.07795892655849457, -0.021897079423069954, 0.30186259746551514] + rpy: [-108.87327979653537, 38.247203858530426, -24.963751013636532] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_183.yaml b/cfg/xyz_sim/scene_183.yaml new file mode 100644 index 0000000..5fc17f1 --- /dev/null +++ b/cfg/xyz_sim/scene_183.yaml @@ -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: [0.00028306618332862854, 0.0021384842693805695, 0.22824010252952576] + rpy: [-0.13715711426041233, -0.011970559872012844, 90.63607627854215] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_051 + xyz: [-0.0546206571161747, 0.19466668367385864, 0.530249834060669] + rpy: [-123.66050550376691, -5.835906701466552, -3.0523616085018452] + scale: 1.0 + +- object_id: active_perception/omni_objects/tomato/tomato_029 + xyz: [0.11848796904087067, 0.14818528294563293, 0.5348812937736511] + rpy: [-92.19519490531766, -23.6939983705617, 24.664043788653203] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_048 + xyz: [-0.01351490430533886, 0.23169167339801788, 0.5195426344871521] + rpy: [-93.21137732697603, 21.44444916766004, -14.918530756874084] + scale: 1.0 + +- object_id: active_perception/omni_objects/cup/cup_033 + xyz: [-0.12320046126842499, 0.04663434252142906, 0.5416455268859863] + rpy: [111.66893527059611, -57.772667171195565, 167.63553010822986] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_045 + xyz: [-0.0910804271697998, -0.03597024828195572, 0.5076029300689697] + rpy: [66.5934059647759, 75.05174527369624, 94.50213235003272] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_184.yaml b/cfg/xyz_sim/scene_184.yaml new file mode 100644 index 0000000..6f17fa0 --- /dev/null +++ b/cfg/xyz_sim/scene_184.yaml @@ -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: [-0.0120783019810915, -0.0014937175437808037, 0.21103620529174805] + rpy: [0.2621437246110062, 1.9403291988260754, 89.87728430544016] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_129 + xyz: [0.033869873732328415, 0.04320893809199333, 0.24441103637218475] + rpy: [-51.738656115073375, 2.892768397395704, 0.15818498941784478] + scale: 1.0 + +- object_id: active_perception/omni_objects/pear/pear_035 + xyz: [0.1233912855386734, 0.10845216363668442, 0.2531820237636566] + rpy: [36.962747363820874, 1.52175411928544, 87.96847241538775] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_037 + xyz: [0.10202766954898834, -0.042230840772390366, 0.2478574961423874] + rpy: [66.47823451720082, 79.66137374963044, 108.52853144660017] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_054 + xyz: [0.06915216892957687, -0.0997173860669136, 0.24639447033405304] + rpy: [119.31128115816075, -2.8526399023003393, -177.49470473810212] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_185.yaml b/cfg/xyz_sim/scene_185.yaml new file mode 100644 index 0000000..a6f8d13 --- /dev/null +++ b/cfg/xyz_sim/scene_185.yaml @@ -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: [-3.795139491558075e-08, 9.220093488693237e-08, -0.06014379858970642] + rpy: [3.95358876450925e-06, 1.187726896878857e-05, 90.00001448901929] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_127 + xyz: [-0.39818906784057617, -0.1258876621723175, 0.07055702805519104] + rpy: [-87.98956268010137, 8.164974789431229, 4.616702969699007] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_049 + xyz: [-0.0341462567448616, -0.1343383640050888, 0.07194019854068756] + rpy: [-90.45563434810167, 5.543836700086651, -1.458769031488919] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_049 + xyz: [-0.5757976770401001, 0.07361306995153427, 0.6884810328483582] + rpy: [-98.66340362787874, -0.9394873060095367, -0.05129696873245276] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_067 + xyz: [0.09811839461326599, -0.0891139805316925, 0.7140707969665527] + rpy: [-120.31577814502805, 52.55503195500862, -102.84393595277723] + scale: 1.0 + +- object_id: active_perception/omni_objects/cup/cup_037 + xyz: [-0.4652298390865326, -0.06840834766626358, 0.097776398062706] + rpy: [-89.45423455919011, 5.513042252581339, 6.867383444367923] + scale: 1.0 + +- object_id: active_perception/omni_objects/bowl/bowl_015 + xyz: [-0.05334540456533432, 0.1693553924560547, 0.09068889170885086] + rpy: [-90.02913592921607, -0.0018241268170468073, 2.7262254927693466] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_186.yaml b/cfg/xyz_sim/scene_186.yaml new file mode 100644 index 0000000..41afba5 --- /dev/null +++ b/cfg/xyz_sim/scene_186.yaml @@ -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/chair/chair_027 + xyz: [0.010518450289964676, 0.020725751295685768, 0.4148634076118469] + rpy: [-0.246805632608312, -1.5976627378504753, 92.99975310010751] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_038 + xyz: [0.02299380674958229, -0.12437674403190613, 0.47560665011405945] + rpy: [145.73197854232373, -75.52298848025205, 161.60797073188073] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_040 + xyz: [0.08024895191192627, 0.15819312632083893, 0.45979124307632446] + rpy: [46.56419569874428, 72.71843246703689, 79.9411413714814] + scale: 1.0 + +- object_id: active_perception/omni_objects/lipstick/lipstick_030 + xyz: [0.1010628417134285, 0.11205171793699265, 0.4612550139427185] + rpy: [-82.44654859434618, -34.98804454951352, -166.89504782913687] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_044 + xyz: [0.08991983532905579, 0.010868328623473644, 0.5064496994018555] + rpy: [-86.58264720510364, 1.6108657182328958, 1.7030681506371572] + scale: 1.0 + +- object_id: active_perception/omni_objects/bowl/bowl_015 + xyz: [0.045877762138843536, 0.02568945661187172, 0.5692135691642761] + rpy: [-75.71163134056975, -5.88624153376538, 3.348680398686286] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_187.yaml b/cfg/xyz_sim/scene_187.yaml new file mode 100644 index 0000000..a96642e --- /dev/null +++ b/cfg/xyz_sim/scene_187.yaml @@ -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: [0.008162887766957283, 0.018813740462064743, 0.3371417820453644] + rpy: [-0.5441927585014629, -1.1553156976808423, 92.55237695680907] + scale: 1.0 + +- object_id: active_perception/omni_objects/waffle/waffle_040 + xyz: [0.17193461954593658, 0.11782585084438324, 0.38776764273643494] + rpy: [28.676799327607302, 67.57591074368557, 134.40552183477683] + scale: 1.0 + +- object_id: active_perception/omni_objects/lemon/lemon_031 + xyz: [0.0420956127345562, 0.014342186972498894, 0.4140152037143707] + rpy: [-52.785522536601825, 60.515732696961024, 33.76746572952082] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_037 + xyz: [0.12302806973457336, 0.11676988005638123, 0.3848040997982025] + rpy: [53.66469076400817, 77.51911098508889, 141.7342195651073] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_039 + xyz: [0.004537677392363548, -0.07754446566104889, 0.4074309766292572] + rpy: [-80.93050877450763, -80.16692855410925, 16.800198126938678] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_188.yaml b/cfg/xyz_sim/scene_188.yaml new file mode 100644 index 0000000..f107ade --- /dev/null +++ b/cfg/xyz_sim/scene_188.yaml @@ -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: [0.006832428276538849, -0.009764480404555798, 0.375384658575058] + rpy: [0.018930259437201804, -0.9524647564731271, 88.61961980301977] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_125 + xyz: [0.02790268324315548, 0.10629594326019287, 0.8571540713310242] + rpy: [-84.08652749477162, 6.295598192286999, 8.542591389955717] + scale: 1.0 + +- object_id: active_perception/omni_objects/tomato/tomato_029 + xyz: [0.1329861879348755, -0.05133889615535736, 0.8577721118927002] + rpy: [-153.01250008978568, 66.55677111723233, 168.28589988864678] + scale: 1.0 + +- object_id: active_perception/omni_objects/pear/pear_038 + xyz: [-0.012927689589560032, -0.13825605809688568, 0.8458346724510193] + rpy: [-90.12372242260264, 2.7926141687941586, -1.5165263593284097] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_040 + xyz: [0.1365901380777359, 0.03259725868701935, 0.8363236784934998] + rpy: [11.88515219607691, 85.54413278846508, 162.2619981247309] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_056 + xyz: [-0.013908235356211662, -0.08208196610212326, 0.854557991027832] + rpy: [-96.04554838037654, -18.73181925629418, -0.6914435238186561] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_050 + xyz: [-0.020650099962949753, 0.0535469688475132, 0.8604288101196289] + rpy: [-85.75251842000941, 10.772286136955573, -30.295856782272917] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_189.yaml b/cfg/xyz_sim/scene_189.yaml new file mode 100644 index 0000000..7514aff --- /dev/null +++ b/cfg/xyz_sim/scene_189.yaml @@ -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: [-7.778708823025227e-05, -0.00010972702875733376, 0.3778647780418396] + rpy: [0.04546117721873226, 3.880186933232386e-05, 89.99994205931081] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_116 + xyz: [0.09517522156238556, -0.05612729862332344, -0.006073396652936935] + rpy: [58.126145217545115, -9.05143634974995, -21.12215460440692] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_127 + xyz: [0.00142325006891042, 0.18741334974765778, 0.7038359045982361] + rpy: [-90.07149121365346, -3.441245281323104, 0.7700714102684325] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_064 + xyz: [0.13390634953975677, -0.28269821405410767, -0.028894804418087006] + rpy: [-95.37835824378517, 10.032715261617808, 89.04150976359377] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_031 + xyz: [-0.05894322693347931, -0.21768704056739807, 0.6953718662261963] + rpy: [-89.47230037218894, 15.882615114923086, -1.5078642407108607] + scale: 1.0 + +- object_id: active_perception/omni_objects/cup/cup_033 + xyz: [-0.12130070477724075, 0.09611567109823227, 0.7342731356620789] + rpy: [-89.37275840517046, 5.091807926516897, 7.180634187386449] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_037 + xyz: [-0.13400129973888397, 0.04717450588941574, -0.015184585005044937] + rpy: [108.70077879743671, 78.03166938773583, 123.9558604908704] + scale: 1.0 + +- object_id: active_perception/omni_objects/walnut/walnut_038 + xyz: [-0.21467328071594238, 0.09881537407636642, 0.7011182308197021] + rpy: [-105.22258343017063, -86.0379701661958, -170.55407198000196] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_19.yaml b/cfg/xyz_sim/scene_19.yaml new file mode 100644 index 0000000..5df98b2 --- /dev/null +++ b/cfg/xyz_sim/scene_19.yaml @@ -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: [-0.01466775219887495, 0.0028509534895420074, 0.1349305957555771] + rpy: [-0.5598209690505895, 45.22449263031873, 84.14555702016206] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_038 + xyz: [0.0358615443110466, -0.013036624528467655, -466.6136169433594] + rpy: [-90.04257049166756, 0.2993721288844387, 1.3815596568916568] + scale: 1.0 + +- object_id: active_perception/omni_objects/garlic/garlic_033 + xyz: [-0.005400908179581165, -0.0054572271183133125, -457.5174865722656] + rpy: [-90.00000482967297, 9.055636486295811e-07, -9.055637177923598e-07] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_045 + xyz: [-0.009005298838019371, 0.007352176122367382, 0.10615232586860657] + rpy: [-110.94213610684946, -9.729690678265284, -162.98055072009416] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_028 + xyz: [-0.004450093023478985, 0.010649377480149269, -439.3685302734375] + rpy: [-90.62951054227072, 1.2411304536374144, 0.013384183708684935] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_047 + xyz: [0.006726284511387348, 0.0021568643860518932, -429.35406494140625] + rpy: [-89.99999517032738, -4.452354303609412e-06, -1.735663760629794e-06] + scale: 1.0 + +- object_id: active_perception/omni_objects/walnut/walnut_038 + xyz: [-0.0008271603146567941, -0.0027954753022640944, -420.2200012207031] + rpy: [-90.0, -7.970845973310922e-07, 2.9713804480688954e-07] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_039 + xyz: [-0.017395567148923874, -0.015877624973654747, 0.10285010188817978] + rpy: [-110.86591610842596, -42.779771991480764, -43.886925138806944] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_190.yaml b/cfg/xyz_sim/scene_190.yaml new file mode 100644 index 0000000..f5c53eb --- /dev/null +++ b/cfg/xyz_sim/scene_190.yaml @@ -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: [-1.7008278518915176e-07, 2.2351741790771484e-08, 0.00037091970443725586] + rpy: [1.6682474968673574e-05, -2.2138105827033333e-07, 90.00000965934548] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_130 + xyz: [0.4531978368759155, -0.09528851509094238, 0.20656220614910126] + rpy: [-89.01916659397718, 7.088556423132427, -0.20988236936297913] + scale: 1.0 + +- object_id: active_perception/omni_objects/pear/pear_038 + xyz: [-0.3258872926235199, -0.006275034975260496, 0.20645155012607574] + rpy: [-89.78657841856943, 5.535242828468354, -3.377300154259098] + scale: 1.0 + +- object_id: active_perception/omni_objects/corn/corn_031 + xyz: [0.3514634370803833, 0.1556096076965332, 1.2189781665802002] + rpy: [-92.40136838717837, -24.794214421901234, -2.5600763868943064] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_038 + xyz: [0.2612886130809784, -0.18371275067329407, 1.2018723487854004] + rpy: [-10.064706080639622, 85.61391526812992, 133.44754719678656] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_063 + xyz: [0.27997034788131714, -0.042811281979084015, 1.2173776626586914] + rpy: [-68.67841761875496, 66.52073069297235, 28.47101812532952] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_067 + xyz: [0.4102552533149719, 0.1981661468744278, 1.2267792224884033] + rpy: [-89.25428346866644, -5.315420208442645, -16.15571335302038] + scale: 1.0 + +- object_id: active_perception/omni_objects/cup/cup_039 + xyz: [-0.2596645951271057, -0.10897432267665863, 1.2078993320465088] + rpy: [-91.53876997084467, -3.1355513153685983, 8.058999636242032] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_191.yaml b/cfg/xyz_sim/scene_191.yaml new file mode 100644 index 0000000..6e94ff4 --- /dev/null +++ b/cfg/xyz_sim/scene_191.yaml @@ -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: [0.002661759965121746, -0.0012792060151696205, 0.0517280213534832] + rpy: [0.026254700725686655, -2.571410883681352, 88.83931086615976] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_040 + xyz: [0.004204148892313242, 0.013186171650886536, 0.014079796150326729] + rpy: [-12.06165413607217, 24.670994549490747, 39.42357275275801] + scale: 1.0 + +- object_id: active_perception/omni_objects/walnut/walnut_037 + xyz: [0.00618327921256423, -0.010048002935945988, 0.020107539370656013] + rpy: [-93.53434822210974, -28.707154061065633, -27.55333107819103] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_037 + xyz: [-0.025559445843100548, -0.006530500017106533, 0.03840040788054466] + rpy: [-124.83619719679946, -20.4467959157458, -32.083880616861755] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_039 + xyz: [0.02542949467897415, 0.018256813287734985, 0.014595050364732742] + rpy: [-92.94498574492239, -0.912417282570945, 76.04306111182633] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_030 + xyz: [-0.008920117281377316, -0.03345209360122681, 0.017853563651442528] + rpy: [84.27979697356525, -39.08160616040939, -87.9287520375001] + scale: 1.0 + +- object_id: active_perception/omni_objects/waffle/waffle_042 + xyz: [0.02958063967525959, -0.004075196571648121, 0.0814012810587883] + rpy: [-107.02056592459351, -1.6992906857528687, 6.909736360744587] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_192.yaml b/cfg/xyz_sim/scene_192.yaml new file mode 100644 index 0000000..937efc6 --- /dev/null +++ b/cfg/xyz_sim/scene_192.yaml @@ -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: [-0.014566381461918354, 0.0026734061539173126, 0.13491244614124298] + rpy: [-0.7887524954881484, 45.06783832571859, 83.8454906262392] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_047 + xyz: [-0.001546724932268262, 0.006347572896629572, -467.6553955078125] + rpy: [-89.92725539631179, 0.21353859414379164, -0.2515224520832853] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_028 + xyz: [0.025759629905223846, 0.02623938024044037, 0.06610733270645142] + rpy: [145.06740259601747, 1.4459579927274795e-05, -1.6409027620680626e-05] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_044 + xyz: [-0.024567481130361557, -0.015394643880426884, 0.11640952527523041] + rpy: [-38.452897904842565, 61.8878640094782, 127.20547812253159] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_041 + xyz: [-0.012324175797402859, 0.010652253404259682, -439.369873046875] + rpy: [-90.00000482967253, 1.056490942484506e-06, 1.6601998948416503e-06] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_042 + xyz: [0.02596854418516159, -0.014225030317902565, 0.0926491841673851] + rpy: [-98.79656467050627, -8.681018226539535, 46.044659171477925] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_040 + xyz: [-0.007693031802773476, -0.017864730209112167, -420.9942321777344] + rpy: [-89.99999517032745, 3.9618406367475625e-07, 3.961840931383349e-07] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_030 + xyz: [-0.013441702350974083, 0.00784082617610693, 0.0867835134267807] + rpy: [126.14692333650756, 30.398612241113348, -116.8560808287455] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_193.yaml b/cfg/xyz_sim/scene_193.yaml new file mode 100644 index 0000000..d241a75 --- /dev/null +++ b/cfg/xyz_sim/scene_193.yaml @@ -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: [1.2764345407485962, 1.7453904151916504, 0.3799339830875397] + rpy: [5.4876728320828665, -6.902957503042409, 93.9138508995427] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_124 + xyz: [-0.09340732544660568, 0.24996139109134674, 0.07224663347005844] + rpy: [-90.04738243468516, -4.512651427703142, -0.5957111067469737] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_118 + xyz: [0.05117378756403923, -0.1763823926448822, 0.07235796004533768] + rpy: [36.350649454360465, 2.0811698483913226, 2.082570001839295] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_045 + xyz: [-0.06275323033332825, -0.026214580982923508, 0.0713404044508934] + rpy: [-46.33053430938545, -89.9999383329514, -92.43313613605407] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_038 + xyz: [0.1470853090286255, 0.24204981327056885, -473.1877746582031] + rpy: [-89.99999517032747, -1.5092727095493124e-06, 9.055635396813238e-07] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_041 + xyz: [-0.1820966899394989, -0.3207213580608368, 0.07154413312673569] + rpy: [-49.53402639657019, 11.5405803364485, 122.77386739406657] + scale: 1.0 + +- object_id: active_perception/omni_objects/walnut/walnut_038 + xyz: [0.15762747824192047, 0.10451255738735199, -453.979736328125] + rpy: [-90.0, -7.970845973310922e-07, 2.9713804480688954e-07] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_044 + xyz: [-0.06488001346588135, 0.09480291604995728, 0.07429467886686325] + rpy: [-155.62943802199237, -81.19905425381637, 148.3767991080511] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_194.yaml b/cfg/xyz_sim/scene_194.yaml new file mode 100644 index 0000000..03ba68b --- /dev/null +++ b/cfg/xyz_sim/scene_194.yaml @@ -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: [-0.003508185036480427, -0.0004306584596633911, 0.297487735748291] + rpy: [-0.09410734691689837, 0.8284025160353319, 89.70110812946105] + scale: 1.0 + +- object_id: active_perception/omni_objects/walnut/walnut_039 + xyz: [-0.043056730180978775, 0.06958190351724625, 0.3120899498462677] + rpy: [-97.57198164471974, 34.12357105277867, 37.58415789993637] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_045 + xyz: [0.0421561598777771, -0.04750030115246773, 0.2979702949523926] + rpy: [64.95130117597898, 82.31295613245838, 140.1557126669075] + scale: 1.0 + +- object_id: active_perception/omni_objects/ginger/ginger_036 + xyz: [-0.009224501438438892, -0.05255249887704849, 0.3122490346431732] + rpy: [-90.79252721293265, -68.09752879194721, 16.457893262369197] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_056 + xyz: [0.08821800351142883, 0.03532162308692932, 0.3235689103603363] + rpy: [-98.63809632926973, -17.197427307251942, -9.95120968208977] + scale: 1.0 + +- object_id: active_perception/omni_objects/pear/pear_036 + xyz: [-0.006728057749569416, 0.013279100880026817, 0.32789507508277893] + rpy: [-71.53474797392055, -36.05413244933162, -32.80217051755011] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_039 + xyz: [0.15791907906532288, 0.008880577981472015, 0.31369224190711975] + rpy: [-171.3075189846586, -81.17783642975276, 118.98208471802823] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_130 + xyz: [0.04810537397861481, -0.08197561651468277, 0.3111250400543213] + rpy: [-83.28455696174896, -8.222533744764677, -4.539167590018856] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_195.yaml b/cfg/xyz_sim/scene_195.yaml new file mode 100644 index 0000000..1969199 --- /dev/null +++ b/cfg/xyz_sim/scene_195.yaml @@ -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_001 + xyz: [2.496875822544098e-06, 1.4834105968475342e-05, -0.005999863147735596] + rpy: [-0.0009199662541395134, -5.128198637315767e-07, 89.99996619229341] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_110 + xyz: [0.11695434153079987, -0.14005471765995026, 0.802833616733551] + rpy: [-89.47317572140732, -5.19386682263855, -1.2511019006214659] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_044 + xyz: [-0.38139715790748596, -0.17634505033493042, 0.8086625933647156] + rpy: [116.00030272190305, 82.44991234345011, 101.76190570371429] + scale: 1.0 + +- object_id: active_perception/omni_objects/ginger/ginger_036 + xyz: [-0.4822533428668976, -0.08341488242149353, 0.8268919587135315] + rpy: [-91.38545404304746, -8.546114698220777, 10.30012394691385] + scale: 1.0 + +- object_id: active_perception/omni_objects/lemon/lemon_030 + xyz: [-0.18769524991512299, 0.23453406989574432, 0.4764013886451721] + rpy: [-98.12877098490836, -13.996736787885913, 25.665911258407956] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_059 + xyz: [-0.6190880537033081, 0.09681201726198196, 0.8438126444816589] + rpy: [89.80646750697325, -52.35911648740168, -177.63952758773604] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_196.yaml b/cfg/xyz_sim/scene_196.yaml new file mode 100644 index 0000000..dc75966 --- /dev/null +++ b/cfg/xyz_sim/scene_196.yaml @@ -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: [0.012179693207144737, 0.02302008867263794, 0.37148430943489075] + rpy: [-0.387062228313289, -1.845347358307052, 93.16569679091832] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_046 + xyz: [0.00507152546197176, -0.012590482831001282, 0.4487641453742981] + rpy: [-66.03429316461042, -31.669777804766845, -4.053425862514314] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_197.yaml b/cfg/xyz_sim/scene_197.yaml new file mode 100644 index 0000000..b71c931 --- /dev/null +++ b/cfg/xyz_sim/scene_197.yaml @@ -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_005 + xyz: [2.6065390557050705e-07, -9.5367431640625e-07, -0.006000012159347534] + rpy: [1.4295935864617665e-05, 3.818289176421139e-06, 89.99995170327294] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_044 + xyz: [0.08972744643688202, 0.07983926683664322, 0.10694747418165207] + rpy: [-56.57289693306632, -18.263724714724045, 18.156068947439977] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_065 + xyz: [-0.14632262289524078, 0.18010561168193817, 0.11854477226734161] + rpy: [-65.67572877023768, 73.335306275339, 29.391024326071836] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_056 + xyz: [-0.16819050908088684, 0.1031663566827774, 0.8426326513290405] + rpy: [-139.03018478781877, -27.714892378413285, 66.81446061068931] + scale: 1.0 + +- object_id: active_perception/omni_objects/tomato/tomato_029 + xyz: [0.16391101479530334, 0.17425844073295593, 0.1204882338643074] + rpy: [-107.97609076884241, -23.692630813929128, 26.614812691128616] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_038 + xyz: [-0.06204180419445038, 0.15801206231117249, 0.7837197780609131] + rpy: [-60.463545462666296, 53.56269259464962, 121.07812456835595] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_126 + xyz: [0.052473876625299454, 0.09548627585172653, 0.10674350708723068] + rpy: [-50.60611598905424, 41.45156062200963, -23.602764122298815] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_129 + xyz: [0.04482492804527283, 0.09507423639297485, 0.7573024034500122] + rpy: [-89.99995552187492, 0.6126665024786795, 1.1510553441175866] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_198.yaml b/cfg/xyz_sim/scene_198.yaml new file mode 100644 index 0000000..c0a00d0 --- /dev/null +++ b/cfg/xyz_sim/scene_198.yaml @@ -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: [1.3163577318191528, 1.6497305631637573, 0.3625776171684265] + rpy: [144.28243891060808, -54.69390653519526, -71.5381246600167] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_038 + xyz: [-0.1395861655473709, -0.2262658327817917, 0.07207141816616058] + rpy: [-89.94376887890412, 85.58499540908572, 133.4418588063005] + scale: 1.0 + +- object_id: active_perception/omni_objects/garlic/garlic_032 + xyz: [-0.12044960260391235, 0.3066619336605072, 0.07009635865688324] + rpy: [110.56660785580422, -2.231352058724493, -179.25584357406387] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_042 + xyz: [0.0822782963514328, -0.057888470590114594, 0.07187096774578094] + rpy: [154.68801071740828, -80.56272157701608, 129.4004168791291] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_045 + xyz: [0.12258399277925491, 0.07610821723937988, 0.07134044170379639] + rpy: [77.11821009512153, -89.99998258636607, 144.4983451341664] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_120 + xyz: [0.08395368605852127, 0.14826186001300812, 0.06865666061639786] + rpy: [-89.97952173995048, -3.0166374296327874, -1.1266846413978677] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_114 + xyz: [-0.06727704405784607, -0.03253624960780144, 0.09676691889762878] + rpy: [-89.16727095376642, -6.658127750448981, -17.948894192699438] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_104 + xyz: [0.1344314068555832, 0.25272074341773987, -444.7189025878906] + rpy: [-90.0, -4.999465941027905e-07, -1.9809204656916814e-07] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_199.yaml b/cfg/xyz_sim/scene_199.yaml new file mode 100644 index 0000000..7013e3c --- /dev/null +++ b/cfg/xyz_sim/scene_199.yaml @@ -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: [-0.0002684744540601969, 0.0009425089228898287, 0.05326951667666435] + rpy: [0.0001293748123487412, 0.18569876325271953, 90.65005435629654] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_046 + xyz: [0.03580857440829277, 0.05748626962304115, 0.15622678399085999] + rpy: [-67.000553201863, 1.0551871770664658, -11.523437207442301] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_030 + xyz: [0.017437895759940147, -0.0010328767821192741, 0.14453144371509552] + rpy: [-70.34773966004512, -83.01493823846742, 51.453066592090366] + scale: 1.0 + +- object_id: active_perception/omni_objects/soap/soap_037 + xyz: [0.007116491906344891, 0.04613404721021652, 0.14757677912712097] + rpy: [-106.46962076305095, -49.34588903210599, 55.765467170170645] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_123 + xyz: [-0.024788040667772293, 0.044539447873830795, 0.14023256301879883] + rpy: [-126.14783612042696, -9.856619985225386, -10.46062593058315] + scale: 1.0 + +- object_id: active_perception/omni_objects/garlic/garlic_033 + xyz: [0.04978930950164795, -0.0016235895454883575, 0.14768867194652557] + rpy: [-81.7300705820586, 8.111551987121421, -5.091845615794787] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_112 + xyz: [0.048864129930734634, -0.06918372958898544, 0.1665545403957367] + rpy: [-80.3834829904917, -25.191830215777983, -1.5498485398463084] + scale: 1.0 + +- object_id: active_perception/omni_objects/pear/pear_038 + xyz: [-0.036172717809677124, -0.06862620264291763, 0.15969997644424438] + rpy: [-89.41036380809211, -22.04605526979007, -2.5929874004776448] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_2.yaml b/cfg/xyz_sim/scene_2.yaml new file mode 100644 index 0000000..8a155e5 --- /dev/null +++ b/cfg/xyz_sim/scene_2.yaml @@ -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: [-1.3614771887660027e-07, 3.2782554626464844e-07, 3.8743019104003906e-07] + rpy: [1.2558213085945724e-05, 1.5404601130171614e-05, 90.00002414836445] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_047 + xyz: [0.1608186513185501, 0.2098824679851532, 0.10362031310796738] + rpy: [-151.09087125854458, 70.8227504342952, -75.89056399820416] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_040 + xyz: [-0.07653196901082993, 0.09058877825737, 0.7665152549743652] + rpy: [84.83359315478327, 77.69877262478191, 136.37256095759415] + scale: 1.0 + +- object_id: active_perception/omni_objects/pear/pear_036 + xyz: [-0.052866131067276, 0.13706167042255402, 0.7877870798110962] + rpy: [-82.1481653014734, -7.758755213644246, -23.92861669038384] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_060 + xyz: [-0.18107056617736816, 0.020676633343100548, 0.11247339844703674] + rpy: [56.131796484903944, -52.76366785273729, -179.9085696382723] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_054 + xyz: [0.14998547732830048, 0.19807197153568268, 0.784217357635498] + rpy: [-86.92723036138284, 26.834095250686733, -20.730094372628223] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_041 + xyz: [0.18047462403774261, 0.17807607352733612, 0.11499366164207458] + rpy: [28.208853736984107, -45.33255731798531, -90.89923928224313] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_20.yaml b/cfg/xyz_sim/scene_20.yaml new file mode 100644 index 0000000..f303b24 --- /dev/null +++ b/cfg/xyz_sim/scene_20.yaml @@ -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: [0.011631879024207592, 0.02296689711511135, 0.3715174198150635] + rpy: [-0.4777052533669246, -1.8582667296001605, 93.16313259787415] + scale: 1.0 + +- object_id: active_perception/omni_objects/bowl/bowl_016 + xyz: [0.18494336307048798, 0.004679824225604534, 0.4506555199623108] + rpy: [-65.17680186079883, -14.153488053543326, 103.34211546351897] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_045 + xyz: [0.037102364003658295, 0.030628377571702003, 0.4346528947353363] + rpy: [120.1518830271412, 73.45336817205732, -168.95743341747658] + scale: 1.0 + +- object_id: active_perception/omni_objects/soap/soap_037 + xyz: [0.0548459067940712, 0.06729228049516678, 0.42365339398384094] + rpy: [-96.69547661541873, 7.453057779661705, 98.14566823925391] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_109 + xyz: [0.06268155574798584, 0.018211843445897102, 0.4285750687122345] + rpy: [-162.88989248305563, 0.8946566143358756, -4.523948911102695] + scale: 1.0 + +- object_id: active_perception/omni_objects/pear/pear_036 + xyz: [0.03321743384003639, -0.06747225672006607, 0.4605293571949005] + rpy: [2.4863777277697086, -63.30284604016734, -130.35624666862157] + scale: 1.0 + +- object_id: active_perception/omni_objects/waffle/waffle_041 + xyz: [0.043524932116270065, 0.19063155353069305, 0.41511884331703186] + rpy: [91.17681009426275, 61.96211973459067, -175.2060761515087] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_21.yaml b/cfg/xyz_sim/scene_21.yaml new file mode 100644 index 0000000..9402ce6 --- /dev/null +++ b/cfg/xyz_sim/scene_21.yaml @@ -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_003 + xyz: [-9.21142054721713e-06, 4.3042004108428955e-05, 0.06524354219436646] + rpy: [2.1642662469978834e-05, 3.619132180376438e-07, 90.00001448901895] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_113 + xyz: [0.24367879331111908, 0.1255834996700287, -520.6961669921875] + rpy: [-90.3335038875702, -6.995436589966524, 5.422392696071811] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_054 + xyz: [-0.4215719401836395, 0.021023331210017204, 1.2659329175949097] + rpy: [-89.99767633454857, 1.90083034112848, 1.1885869532257571] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_040 + xyz: [-0.09116429090499878, -0.08710652589797974, 1.282806634902954] + rpy: [-44.25443131084768, 31.496108377938064, 86.41106186796996] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_037 + xyz: [-0.40645164251327515, -0.1833648532629013, 0.07233317196369171] + rpy: [-15.02655882927377, -81.73316929093382, 129.2055095776794] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_053 + xyz: [0.11290330439805984, 0.17519353330135345, 1.2852015495300293] + rpy: [-126.0901987514125, 20.66355514040187, 2.9215753979634465] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_054 + xyz: [0.48242756724357605, -0.2080523669719696, 0.33269134163856506] + rpy: [-19.451451289873273, 0.0904942504924729, -90.20878012601078] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_22.yaml b/cfg/xyz_sim/scene_22.yaml new file mode 100644 index 0000000..30a30b3 --- /dev/null +++ b/cfg/xyz_sim/scene_22.yaml @@ -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: [-2.741580829024315e-08, -2.9802322387695312e-08, 0.00037097930908203125] + rpy: [1.2155024359271774e-05, -3.5414142707907226e-06, 90.00002897803614] + scale: 1.0 + +- object_id: active_perception/omni_objects/lemon/lemon_032 + xyz: [-0.2638421058654785, 0.018328789621591568, 1.2195806503295898] + rpy: [-89.79426904973054, 6.323976820179709, 12.463209500096367] + scale: 1.0 + +- object_id: active_perception/omni_objects/bowl/bowl_017 + xyz: [0.11245172470808029, -0.22367559373378754, 1.2371712923049927] + rpy: [-87.9122699068425, 1.3292916070710872, 89.43000626082073] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_055 + xyz: [-0.07952628284692764, -0.09313002973794937, 1.2349698543548584] + rpy: [-90.35392422706843, 8.795475342857175, -2.246660778159585] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_064 + xyz: [-0.41686272621154785, -0.0027564994525164366, 0.21678829193115234] + rpy: [-84.27701167959468, -15.044356309411818, -18.084052703858806] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_043 + xyz: [-0.43120065331459045, 0.12483589351177216, 1.2043894529342651] + rpy: [-60.12262861824174, -77.10763080609584, -103.97545807082217] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_049 + xyz: [0.46525004506111145, 0.05989675968885422, 1.2265686988830566] + rpy: [-89.64861241943046, -6.661839024042792, -17.95062572814678] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_040 + xyz: [-0.42970502376556396, 0.05233021080493927, 1.2045601606369019] + rpy: [-13.215187285616874, 43.83827145390627, 106.23053105638822] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_23.yaml b/cfg/xyz_sim/scene_23.yaml new file mode 100644 index 0000000..483fbbb --- /dev/null +++ b/cfg/xyz_sim/scene_23.yaml @@ -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/flower/flower_pot_022 + xyz: [0.0016854408895596862, -0.00011460698442533612, 0.0520070381462574] + rpy: [-0.33844779338284076, -1.4658322458723143, 89.7293427258766] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_031 + xyz: [0.018688064068555832, -0.03278050944209099, 0.017788531258702278] + rpy: [-96.33838367308559, 2.3765521678683115, -52.19132087193764] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_045 + xyz: [0.021577736362814903, -0.0008062790147960186, 0.015988094732165337] + rpy: [17.503719590663927, -65.7589563700688, -78.35601085515754] + scale: 1.0 + +- object_id: active_perception/omni_objects/garlic/garlic_033 + xyz: [-0.008900586515665054, 0.030188439413905144, 0.0209807176142931] + rpy: [-113.6004012214071, -9.420033370899407, 167.41363724113793] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_042 + xyz: [-0.02780258283019066, -0.0013597114011645317, 0.027128273621201515] + rpy: [-162.27525196951547, -39.77950446847048, -133.16175881882714] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_043 + xyz: [0.009000822901725769, -0.0316353365778923, 0.033743079751729965] + rpy: [151.44559150248665, 37.53936816458852, -18.506783418445245] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_24.yaml b/cfg/xyz_sim/scene_24.yaml new file mode 100644 index 0000000..3062d0e --- /dev/null +++ b/cfg/xyz_sim/scene_24.yaml @@ -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: [4.6584755182266235e-06, 1.1278316378593445e-05, -0.0165444016456604] + rpy: [-2.8018076276273095e-06, 0.03720121449581753, 89.91797282338165] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_125 + xyz: [-0.052132248878479004, 0.17191633582115173, 1.2140307426452637] + rpy: [157.86363254593775, -64.76489564111344, 168.68099499975992] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_111 + xyz: [0.11794905364513397, 0.15393933653831482, 1.1979782581329346] + rpy: [-89.9987675262168, 0.08907508399398459, 0.032232496651103455] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_059 + xyz: [-0.26895081996917725, 0.06105397269129753, 1.2231613397598267] + rpy: [-92.55744265574252, -16.030023858704176, 10.342107634362979] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_061 + xyz: [-0.06043992191553116, -0.05652777478098869, 1.194550633430481] + rpy: [-89.99995714564248, -0.1306284271193286, -0.06725047706973061] + scale: 1.0 + +- object_id: active_perception/omni_objects/lipstick/lipstick_031 + xyz: [0.1574958860874176, 0.10855299234390259, 1.1948202848434448] + rpy: [95.5961038511342, -6.365568151615813, 0.3114540400730025] + scale: 1.0 + +- object_id: active_perception/omni_objects/cup/cup_037 + xyz: [0.08715704083442688, 0.05228457599878311, 1.224064588546753] + rpy: [-89.78902500437668, 2.141751454692132, 7.2362913209940904] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_037 + xyz: [-0.16509822010993958, 0.1377595067024231, 1.1983356475830078] + rpy: [54.26376802211145, 65.02994861129423, -176.4346582351374] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_25.yaml b/cfg/xyz_sim/scene_25.yaml new file mode 100644 index 0000000..d00965c --- /dev/null +++ b/cfg/xyz_sim/scene_25.yaml @@ -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: [4.516914486885071e-07, -4.958361387252808e-06, 0.45463427901268005] + rpy: [0.0031753117410737667, 1.2555797881479361e-05, 89.99998068165691] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_045 + xyz: [0.222377210855484, 0.040181394666433334, 0.07623600214719772] + rpy: [-95.530475360801, -8.302815788466443, 91.81843413813867] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_041 + xyz: [0.016510671004652977, 0.10812345892190933, 0.07775527238845825] + rpy: [-79.2528314344631, 42.76395477063954, 30.836024678413605] + scale: 1.0 + +- object_id: active_perception/omni_objects/cup/cup_038 + xyz: [-0.08544410765171051, -0.044772543013095856, 0.0675392746925354] + rpy: [137.54576843289976, -34.59084470613236, -163.49681721961446] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_061 + xyz: [0.14867573976516724, -0.053852152079343796, 0.05942690744996071] + rpy: [-6.682258700338436, -65.62761134139967, -173.78087258803916] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_045 + xyz: [0.14712093770503998, -0.10209600627422333, 0.07241001725196838] + rpy: [-81.0022163904136, 28.215720344938177, 22.643952045340036] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_047 + xyz: [0.056560587137937546, 0.15644165873527527, 0.7761340737342834] + rpy: [-164.85845024782296, 70.64951704143552, -75.58093058661835] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_26.yaml b/cfg/xyz_sim/scene_26.yaml new file mode 100644 index 0000000..5de1899 --- /dev/null +++ b/cfg/xyz_sim/scene_26.yaml @@ -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/cabinet/cabinet_009 + xyz: [0.007655736058950424, -0.010698762722313404, 0.46825119853019714] + rpy: [0.023537081878660746, -0.960354126178995, 88.61152720766167] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_045 + xyz: [-0.009152433834969997, -0.09256786108016968, 0.9406346082687378] + rpy: [-96.2116725534299, 28.989650405942534, 17.046948765020048] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_064 + xyz: [-0.03347316011786461, -0.16442500054836273, 0.950839102268219] + rpy: [-84.09430811208782, -60.25601527150184, 7.421449824391271] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_028 + xyz: [0.13110430538654327, 0.05870744213461876, 0.9280725121498108] + rpy: [130.80883768540153, -82.88414462477475, 172.77383804486237] + scale: 1.0 + +- object_id: active_perception/omni_objects/pear/pear_039 + xyz: [0.016119051724672318, 0.12113690376281738, 0.9541727900505066] + rpy: [-90.6265617730389, 13.5227753254195, 6.772742181317633] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_043 + xyz: [0.009344099089503288, -0.04049042612314224, 0.9312810897827148] + rpy: [-115.0482047981965, -83.39543773362601, -69.27325509826598] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_27.yaml b/cfg/xyz_sim/scene_27.yaml new file mode 100644 index 0000000..62baf7d --- /dev/null +++ b/cfg/xyz_sim/scene_27.yaml @@ -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_021 + xyz: [0.002188779879361391, -0.0015618011821061373, 0.02972041256725788] + rpy: [0.3658835462221892, -2.4519361411323652, 88.80327818798196] + scale: 1.0 + +- object_id: active_perception/omni_objects/walnut/walnut_037 + xyz: [-0.0003160099149681628, 0.026253653690218925, 0.010763399302959442] + rpy: [-137.93780580211788, -38.65997728004756, 46.34918001144928] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_038 + xyz: [0.004553079139441252, -0.028080366551876068, -0.011036083102226257] + rpy: [61.44677309718858, -20.994872698555955, 156.38337914464705] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_037 + xyz: [0.031018627807497978, -0.02011658251285553, 0.0023052352480590343] + rpy: [-29.62046998693347, -37.43600294889406, 70.76927926178872] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_041 + xyz: [0.00807546079158783, 0.020355913788080215, 0.03241581842303276] + rpy: [124.50760586457922, 61.964058336972975, -73.58092902791985] + scale: 1.0 + +- object_id: active_perception/omni_objects/tomato/tomato_028 + xyz: [-0.02831221930682659, -0.0035460186190903187, 0.009630385786294937] + rpy: [-153.73784214063565, -10.493439064771264, -60.696009010900525] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_042 + xyz: [0.006021695211529732, -0.036841295659542084, 0.013682245276868343] + rpy: [161.15094488152923, 43.7330612555122, -169.43141258117015] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_044 + xyz: [0.00842110812664032, 0.003992254380136728, 0.007471449673175812] + rpy: [-106.17348842760312, 41.99555543436923, 30.309112397462613] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_28.yaml b/cfg/xyz_sim/scene_28.yaml new file mode 100644 index 0000000..eb04f4c --- /dev/null +++ b/cfg/xyz_sim/scene_28.yaml @@ -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: [5.920726107433438e-05, 8.978694677352905e-05, 0.06524372100830078] + rpy: [-0.004719966310740871, 7.365517208558546e-07, 89.99999034062417] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_126 + xyz: [0.25629517436027527, 0.17612384259700775, 0.1765328198671341] + rpy: [-154.98445964661454, -86.27077970037101, 62.675559618753155] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_029 + xyz: [0.2753090560436249, -0.23083452880382538, 0.19813188910484314] + rpy: [80.62276502698975, 2.192504076040657, -154.14780361428743] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_053 + xyz: [0.3283778131008148, 0.017984677106142044, 1.2851991653442383] + rpy: [-108.70378584116393, 20.66336049291537, 2.9229724473779406] + scale: 1.0 + +- object_id: active_perception/omni_objects/cup/cup_033 + xyz: [0.08011385798454285, -0.17169442772865295, 0.30336567759513855] + rpy: [123.96502370950437, 0.8045895435193959, 166.9879940277047] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_041 + xyz: [0.18494923412799835, -0.06862471252679825, 1.2843858003616333] + rpy: [-90.68438132351093, -4.267100686584912, 7.92318231432563] + scale: 1.0 + +- object_id: active_perception/omni_objects/corn/corn_031 + xyz: [-0.23812496662139893, 0.028220776468515396, 0.2752571105957031] + rpy: [-87.6202864591863, -50.00768707738347, 2.5934784451243176] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_129 + xyz: [0.2536359429359436, -0.03717641532421112, 0.0692346841096878] + rpy: [85.30343152357781, -2.919421139708533, -177.6695672867082] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_29.yaml b/cfg/xyz_sim/scene_29.yaml new file mode 100644 index 0000000..a12c413 --- /dev/null +++ b/cfg/xyz_sim/scene_29.yaml @@ -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: [0.0002713622525334358, 0.002130318433046341, 0.22824013233184814] + rpy: [-0.1393382947404613, -0.011972274683030686, 90.63608131127356] + scale: 1.0 + +- object_id: active_perception/omni_objects/garlic/garlic_032 + xyz: [0.009108941070735455, -0.007731622084975243, 0.5099620223045349] + rpy: [-91.55966412725769, 11.965773382421203, 5.215730171337874] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_103 + xyz: [0.015503761358559132, 0.15643654763698578, 0.033399783074855804] + rpy: [-82.43804224635487, -0.5599028323815638, 3.1841744119499342] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_030 + xyz: [0.004499285947531462, -0.10530705749988556, 0.5072919130325317] + rpy: [20.38418884312026, -39.788347883194646, -94.01330960730249] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_040 + xyz: [-0.17774489521980286, -0.02097119390964508, 0.5090992450714111] + rpy: [32.703875769295365, 79.6856642456661, 66.15599461192667] + scale: 1.0 + +- object_id: active_perception/omni_objects/lipstick/lipstick_030 + xyz: [-0.01911872811615467, 0.051600467413663864, 0.016784118488430977] + rpy: [-90.02529953338993, 0.8808911555012701, -0.01394693426783045] + scale: 1.0 + +- object_id: active_perception/omni_objects/walnut/walnut_037 + xyz: [0.05458124354481697, 0.2030208557844162, 0.018712038174271584] + rpy: [-91.21436509010519, -3.653300847626802, -6.375340382259449] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_3.yaml b/cfg/xyz_sim/scene_3.yaml new file mode 100644 index 0000000..a473427 --- /dev/null +++ b/cfg/xyz_sim/scene_3.yaml @@ -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: [0.012478331103920937, 0.023591354489326477, 0.3941042125225067] + rpy: [-0.43409256419389175, -1.9414597476733313, 93.28260549689227] + scale: 1.0 + +- object_id: active_perception/omni_objects/lipstick/lipstick_031 + xyz: [-0.059644922614097595, 0.009799901396036148, 0.4570856988430023] + rpy: [-55.353825533630285, -2.9354283513357067, 2.8880265508939846] + scale: 1.0 + +- object_id: active_perception/omni_objects/lemon/lemon_029 + xyz: [-0.01985994353890419, 0.08383921533823013, 0.474084734916687] + rpy: [-90.29457072569063, -1.4709152761915085, 5.2458159802213284] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_039 + xyz: [-0.0023786902893334627, 0.011469738557934761, 0.4709773063659668] + rpy: [-56.777759335190105, 35.3045698380747, 90.4139611445453] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_118 + xyz: [0.11545368283987045, -0.07257583737373352, 0.4530535936355591] + rpy: [-56.55297650198005, -1.9565439993432958, 4.7821424654630915] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_055 + xyz: [0.05363892763853073, -0.022680124267935753, 0.4885134696960449] + rpy: [-68.32347555082846, 7.5769104146233754, 1.709186324387666] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_130 + xyz: [0.07856171578168869, 0.09975654631853104, 0.44260814785957336] + rpy: [-90.12100424941973, 5.191965611798933, 6.768990474172457] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_30.yaml b/cfg/xyz_sim/scene_30.yaml new file mode 100644 index 0000000..b43f2dc --- /dev/null +++ b/cfg/xyz_sim/scene_30.yaml @@ -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: [0.001432997640222311, -9.136504377238452e-05, 0.05203130096197128] + rpy: [-0.27843369897781517, -1.2416591531438295, 89.77050697357274] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_045 + xyz: [0.028455134481191635, 0.017666660249233246, 0.02301545813679695] + rpy: [-140.26543419511373, 8.43938975212, 58.85932351600914] + scale: 1.0 + +- object_id: active_perception/omni_objects/garlic/garlic_033 + xyz: [0.006874584127217531, 0.01272235531359911, 0.014066335745155811] + rpy: [-70.8937273411105, 8.181002794699479, -4.568756305238305] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_040 + xyz: [0.03195023164153099, -0.007611270993947983, 0.014371706172823906] + rpy: [138.17933836219143, -8.52845173346709, -34.737468682019376] + scale: 1.0 + +- object_id: active_perception/omni_objects/soap/soap_037 + xyz: [0.003135314444079995, -0.018259478732943535, 0.010420072823762894] + rpy: [-175.0957150290976, 2.7884089378087045, 111.39448675517025] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_041 + xyz: [-0.018980104476213455, -0.026971610262989998, 0.011111970990896225] + rpy: [-73.09655580440047, -15.068999641615767, 141.43590239849053] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_039 + xyz: [0.02749377116560936, -0.028341490775346756, 0.02162272483110428] + rpy: [-91.07747463698333, -1.894229954611798, 20.508535668901555] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_038 + xyz: [-0.023121558129787445, 0.01626509241759777, 0.014791922643780708] + rpy: [-99.06473863699638, 37.526245334161025, -39.82044675682922] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_31.yaml b/cfg/xyz_sim/scene_31.yaml new file mode 100644 index 0000000..5efec9f --- /dev/null +++ b/cfg/xyz_sim/scene_31.yaml @@ -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: [-0.002325912471860647, -0.004745739512145519, 0.07650265842676163] + rpy: [-0.06905558062338624, 1.8594610379633092, 86.24631889564417] + scale: 1.0 + +- object_id: active_perception/omni_objects/pear/pear_038 + xyz: [-0.0006234091706573963, -0.043876904994249344, 0.04291005805134773] + rpy: [113.51483488188079, 45.605777759431376, 131.19602153974765] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_040 + xyz: [-0.05146441236138344, 0.031429652124643326, 0.048231709748506546] + rpy: [-36.2262615424691, 19.162564146099722, 113.11030813878376] + scale: 1.0 + +- object_id: active_perception/omni_objects/waffle/waffle_042 + xyz: [0.0523575022816658, -0.03447752073407173, 0.06601247191429138] + rpy: [-73.76096985465576, -39.543910484617534, 172.20107546781512] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_130 + xyz: [-0.054038602858781815, -0.04483973607420921, 0.05855628475546837] + rpy: [134.99401482550417, -22.304829015847428, -85.78532014031114] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_114 + xyz: [0.014022773131728172, 0.015282340347766876, 0.034056901931762695] + rpy: [-76.1107058953612, -14.148904478551922, -4.343017796417919] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_124 + xyz: [0.06586838513612747, 0.01757574826478958, 0.03590649738907814] + rpy: [-44.620497678433566, 10.897384397583465, -21.775558924527296] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_063 + xyz: [-0.03384911268949509, -0.005442720837891102, 0.05679475516080856] + rpy: [-58.076428598614804, 18.441192687623268, 18.569327385828167] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_32.yaml b/cfg/xyz_sim/scene_32.yaml new file mode 100644 index 0000000..327605a --- /dev/null +++ b/cfg/xyz_sim/scene_32.yaml @@ -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: [0.0014909281162545085, -0.00024284413666464388, 0.06899769604206085] + rpy: [-0.04685378370180156, -1.4680299434083592, 89.72892313169848] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_029 + xyz: [0.02930140681564808, 0.015070909634232521, 0.028788994997739792] + rpy: [38.946837751172424, 86.8688814867878, 83.16796344704349] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_038 + xyz: [-0.019432399421930313, 0.008056133054196835, 0.03992009162902832] + rpy: [3.1410846210741528, -44.18801658063454, 50.215661054649686] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_028 + xyz: [-0.01442879717797041, 0.02817351743578911, 0.027793005108833313] + rpy: [102.77008142367211, 37.326373196501514, 95.13257773185764] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_040 + xyz: [0.0006161424098536372, -0.021547967568039894, 0.044916387647390366] + rpy: [147.42137302388377, 53.479874610569546, 33.4919074926708] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_031 + xyz: [0.004991597030311823, -0.03141811862587929, 0.025500496849417686] + rpy: [84.94861090762451, 80.38958611744052, -3.7726555712878715] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_041 + xyz: [0.020195169374346733, 0.006079243496060371, 0.03649688884615898] + rpy: [-135.4551637252852, 61.16553022806561, 124.43448572026118] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_33.yaml b/cfg/xyz_sim/scene_33.yaml new file mode 100644 index 0000000..1cbb526 --- /dev/null +++ b/cfg/xyz_sim/scene_33.yaml @@ -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: [0.0028420579619705677, -0.0011543694417923689, 0.05774705484509468] + rpy: [-0.02421988566111616, -2.825862792326527, 88.85758819777307] + scale: 1.0 + +- object_id: active_perception/omni_objects/carrot/carrot_040 + xyz: [0.0007919211639091372, -0.037084706127643585, 0.03425108268857002] + rpy: [-107.30548465796404, -36.2269456311887, 3.875519468392625] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_037 + xyz: [-0.020608294755220413, -0.0010461299680173397, 0.028569726273417473] + rpy: [-14.781560882886483, 56.118394743147725, 84.34049593601237] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_028 + xyz: [-0.026207365095615387, -0.001541749807074666, 0.016792982816696167] + rpy: [-37.50095519568454, 18.728017210648545, -88.25533720290301] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_029 + xyz: [-0.0191760566085577, 0.023274464532732964, 0.01752839796245098] + rpy: [158.38141443207383, -56.6125752938834, 50.32502102590381] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_043 + xyz: [0.013395723886787891, -0.006505611352622509, 0.028028352186083794] + rpy: [147.36581636576656, -66.86889696246439, -160.03589392442117] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_031 + xyz: [0.006280636414885521, -0.026385212317109108, 0.017772648483514786] + rpy: [55.169311349321156, -65.83327683575607, -172.313675886421] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_34.yaml b/cfg/xyz_sim/scene_34.yaml new file mode 100644 index 0000000..8fbd43e --- /dev/null +++ b/cfg/xyz_sim/scene_34.yaml @@ -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_001 + xyz: [-9.220093488693237e-08, 3.241002559661865e-07, -0.06014382839202881] + rpy: [-7.802969294478993e-06, -2.4073190535781608e-06, 90.00000482967273] + scale: 1.0 + +- object_id: active_perception/omni_objects/pear/pear_038 + xyz: [-0.055946893990039825, -0.17942705750465393, 0.7685343027114868] + rpy: [134.77648183500548, 5.526510859663884, -2.2497941043125285] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_037 + xyz: [-0.243138387799263, -0.16750207543373108, 0.7581920027732849] + rpy: [-70.3637901384168, -4.373957210416267, 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index 0000000..1db3fd4 --- /dev/null +++ b/cfg/xyz_sim/scene_35.yaml @@ -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_023 + xyz: [9.04994085431099e-05, -0.001998303458094597, 0.07434101402759552] + rpy: [0.0007521367313888551, -0.08232549546043709, 87.8171495710518] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_039 + xyz: [0.027859177440404892, 0.0006071220268495381, 0.03238953649997711] + rpy: [134.0928883765494, -24.176799534167415, 150.7771345512473] + scale: 1.0 + +- object_id: active_perception/omni_objects/garlic/garlic_032 + xyz: [0.016638923436403275, -0.032250646501779556, 0.0759749785065651] + rpy: [24.863922854138174, 14.413794360376064, 65.01629479631072] + scale: 1.0 + +- object_id: active_perception/omni_objects/soap/soap_037 + xyz: [0.025980794802308083, 0.024251092225313187, 0.04509377107024193] + rpy: [136.83687121069966, 1.2793404344824917, 172.62944402263523] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_038 + xyz: [0.01999835856258869, -0.014499987475574017, 0.03366774320602417] + rpy: [-94.48865212613362, -27.153130488153607, -177.79046519234956] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_045 + xyz: [-0.008520111441612244, -0.003114726161584258, 0.033273953944444656] + rpy: [166.55890958090072, 74.9643273074888, 110.39350930929714] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_061 + xyz: [0.004855289589613676, 0.031957898288965225, 0.038604170083999634] + rpy: [-68.58932674462518, -3.0517506626575504, 89.36268553582488] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_36.yaml b/cfg/xyz_sim/scene_36.yaml new file mode 100644 index 0000000..e623158 --- /dev/null +++ b/cfg/xyz_sim/scene_36.yaml @@ -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/cabinet/cabinet_009 + xyz: [0.006613242439925671, -0.009521248750388622, 0.4033784568309784] + rpy: [0.12608755693060691, -0.9603402928105148, 88.61155556777636] + scale: 1.0 + +- object_id: active_perception/omni_objects/soap/soap_037 + xyz: [0.19723746180534363, -0.04880416765809059, 0.8572527170181274] + rpy: [-73.39091606081678, 0.2288187552853853, 96.58695938967814] + scale: 1.0 + +- object_id: active_perception/omni_objects/pear/pear_039 + xyz: [0.15307432413101196, -0.026445679366588593, 0.8817943334579468] + rpy: [-61.93689004005149, 26.291271408436458, 43.88260039017374] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_045 + xyz: [0.0383366234600544, 0.07386764883995056, 0.8674019575119019] + rpy: [59.031596078492775, 74.63992365152517, 84.64406686553255] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_104 + xyz: [-0.13109463453292847, -0.11915754526853561, 0.8624886870384216] + rpy: [-89.22865564340965, -5.824645543416764, -6.530071217398856] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_041 + xyz: [0.11868615448474884, -0.12912902235984802, 0.8723306059837341] + rpy: [50.185698391578796, -74.5073105586973, -97.67591040629462] + scale: 1.0 + +- object_id: active_perception/omni_objects/tomato/tomato_029 + xyz: [0.1460922211408615, 0.1321875900030136, 0.8888135552406311] + rpy: [-106.65805919519741, -13.399136384066964, 56.932281542304786] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_052 + xyz: [-0.11937824636697769, 0.06286828219890594, 0.8905937075614929] + rpy: [-74.8873561647739, 54.75519229867925, -3.6881109642641516] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_37.yaml b/cfg/xyz_sim/scene_37.yaml new file mode 100644 index 0000000..8a00543 --- /dev/null +++ b/cfg/xyz_sim/scene_37.yaml @@ -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: [-1.208973117172718e-07, 0.0, 0.010999977588653564] + rpy: [-3.1310917976400186e-05, -5.198184491248657e-06, 89.9998647691643] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_042 + xyz: [0.1077878400683403, 0.12241704761981964, 0.11737146973609924] + rpy: [43.955873031885446, -14.671800950178215, -19.82887550660323] + scale: 1.0 + +- object_id: active_perception/omni_objects/walnut/walnut_038 + xyz: [0.12384489923715591, 0.0854213684797287, 0.44839659333229065] + rpy: [-89.35867106337258, -7.186961536837509, -2.110582560268944] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_065 + xyz: [-0.028945425525307655, 0.08007828146219254, 0.13590463995933533] + rpy: [-114.05247086608534, 68.16674079708537, 68.15714017045055] + scale: 1.0 + +- object_id: active_perception/omni_objects/soap/soap_037 + xyz: [-0.04376954957842827, 0.1326463371515274, 0.11002542078495026] + rpy: [-69.3117193284979, 7.200648033848471, -86.12299207196212] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_067 + xyz: [0.05380183458328247, 0.16606707870960236, 0.10901172459125519] + rpy: [-89.94508587288485, 0.06469163722039832, -1.305400592268318] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_047 + xyz: [-0.0789538100361824, 0.20966367423534393, 0.44687551259994507] + rpy: [140.3988953421588, 66.7242994364941, -139.1880368619215] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_38.yaml b/cfg/xyz_sim/scene_38.yaml new file mode 100644 index 0000000..7370e36 --- /dev/null +++ b/cfg/xyz_sim/scene_38.yaml @@ -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_003 + xyz: [5.00003807246685e-08, 1.043081283569336e-07, -0.05977308750152588] + rpy: [5.442593521285084e-06, 7.638479790208606e-07, 90.0000048296726] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_031 + xyz: [-0.5781857967376709, -0.04313921183347702, 1.141689658164978] + rpy: [-95.3846952337335, 15.885095005023825, -1.507829116592635] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_119 + xyz: [-0.210454523563385, -0.016373546794056892, 1.141706109046936] + rpy: [-90.00023547768144, 0.29590770675539974, 1.328414669676981] + scale: 1.0 + +- object_id: active_perception/omni_objects/corn/corn_029 + xyz: [-0.5411771535873413, -0.1043897271156311, 1.1588128805160522] + rpy: [-91.32227345234962, -24.913310810983315, -2.438126611331454] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_056 + xyz: [0.0854501724243164, 0.020426146686077118, 1.167594313621521] + rpy: [-92.61721486604681, -31.454427717319902, -0.21375060212375732] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_110 + xyz: [-0.06631174683570862, 0.038029201328754425, 0.1315489560365677] + rpy: [-87.97657685784142, -5.205862135193655, -2.4581883145615144] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_057 + xyz: [0.06270138174295425, -0.04442468658089638, 1.1657730340957642] + rpy: [91.04472625108507, -60.25089944992125, 177.14846669381444] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_39.yaml b/cfg/xyz_sim/scene_39.yaml new file mode 100644 index 0000000..804e7f3 --- /dev/null +++ b/cfg/xyz_sim/scene_39.yaml @@ -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: [0.00010699592530727386, -0.001040428876876831, 0.4481426179409027] + rpy: [-0.00021596312904110745, -0.01376289993694413, 89.86887920360526] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_045 + xyz: [-0.15600375831127167, -0.3234883248806, 0.7927082180976868] + rpy: [-114.40002252009593, -64.49377586309582, 23.52744668571259] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_038 + xyz: [-0.08556875586509705, -0.22283858060836792, 0.7839670181274414] + rpy: [-95.7213221593797, 13.751132333765685, 21.73652522190826] + scale: 1.0 + +- object_id: active_perception/omni_objects/tomato/tomato_028 + xyz: [-0.1160791888833046, -0.06806221604347229, 0.7847705483436584] + rpy: [-42.690745021522616, 69.92034678675974, 80.29145444472985] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_049 + xyz: [0.20025092363357544, -0.41051578521728516, 0.7907444834709167] + rpy: [-92.18048111422145, -35.07730997754105, 9.27581165170745] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_039 + xyz: [0.06475533545017242, -0.4073522686958313, 0.7823901772499084] + rpy: [-117.52387561010707, -82.89475771410906, 108.19892341698414] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_041 + xyz: [0.15961599349975586, -0.28698602318763733, 0.8091489672660828] + rpy: [-89.9796335085015, 5.770621462049354, 80.70515515225573] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_116 + xyz: [-0.16338872909545898, -0.21233633160591125, 0.7834504842758179] + rpy: [-89.63025430983015, -1.4727566470727098, -3.4984490708812253] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_4.yaml b/cfg/xyz_sim/scene_4.yaml new file mode 100644 index 0000000..96fd1bb --- /dev/null +++ b/cfg/xyz_sim/scene_4.yaml @@ -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: [-0.0021468535996973515, -0.004557723645120859, 0.08212780207395554] + rpy: [-0.05356910547753597, 1.9323693313409611, 85.9572085827448] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_105 + xyz: [-0.03673325851559639, -0.03243739530444145, 0.03260248154401779] + rpy: [-160.90597882751862, 3.1901907871913733, 5.412017192305009] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_041 + xyz: [0.04713554307818413, -0.015210438519716263, 0.04173722118139267] + rpy: [-163.70433663387016, -71.05088841469548, 59.404295298346135] + scale: 1.0 + +- object_id: active_perception/omni_objects/lemon/lemon_032 + xyz: [0.005444257520139217, -0.018016818910837173, 0.06918787211179733] + rpy: [69.69401180300784, 72.23174835704576, -93.5898003364966] + scale: 1.0 + +- object_id: active_perception/omni_objects/waffle/waffle_041 + xyz: [0.005476006772369146, 0.03250156715512276, 0.0683291107416153] + rpy: [-89.12861895640738, 26.632062973536552, 104.28119806728803] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_113 + xyz: [0.011690882034599781, -0.043580614030361176, 0.03638513386249542] + rpy: [86.06680338315526, -13.326025001342492, 173.16679359710162] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_030 + xyz: [0.06836505979299545, 0.0027577835135161877, 0.04202727973461151] + rpy: [-1.7419376184448039, 71.96794520204386, 77.58796847248838] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_122 + xyz: [-0.026931222528219223, 0.007508337497711182, 0.037584200501441956] + rpy: [-10.869289787340987, -1.0031710332102788, 8.84014643777508] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_40.yaml b/cfg/xyz_sim/scene_40.yaml new file mode 100644 index 0000000..c1fd716 --- /dev/null +++ b/cfg/xyz_sim/scene_40.yaml @@ -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: [-0.0009841498686000705, -0.0010612158803269267, -0.0018193746218457818] + rpy: [3.311147111463288, -0.4345033267475731, 88.89379786774929] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_029 + xyz: [-0.027134522795677185, 0.014114820398390293, -0.04264287278056145] + rpy: [-23.558042920079863, -15.462861610763158, -88.37954891494789] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_045 + xyz: [-0.03428728133440018, 0.0075537958182394505, -0.012466422282159328] + rpy: [-11.536347870620695, 29.140260375744298, -47.61688424272205] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_041 + xyz: [0.009722218848764896, 0.018718324601650238, -0.04549923166632652] + rpy: [-110.91831281588746, 22.87442036673765, -74.63938673376656] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_061 + xyz: [-0.01676907017827034, -0.03211698681116104, -0.04650091752409935] + rpy: [72.98012815711772, 20.656473148169777, -1.766517099673224] + scale: 1.0 + +- object_id: active_perception/omni_objects/waffle/waffle_041 + xyz: [0.010431341826915741, -0.014286238700151443, -0.000989236868917942] + rpy: [-48.62515310702935, -39.332059787438986, 22.95980920232018] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_038 + xyz: [0.004841041751205921, -0.017103398218750954, -0.041343312710523605] + rpy: [139.5907933423611, -68.00933300702582, -151.2630685788612] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_040 + xyz: [-0.02791927382349968, -0.013032225891947746, -0.03956935554742813] + rpy: [-177.02365957355144, 46.02687951108614, 34.416298306857136] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_41.yaml b/cfg/xyz_sim/scene_41.yaml new file mode 100644 index 0000000..731a2f1 --- /dev/null +++ b/cfg/xyz_sim/scene_41.yaml @@ -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/sofa/sofa_014 + xyz: [-0.025585917755961418, 0.003834121860563755, 0.3471461534500122] + rpy: [-0.041821097576549185, 4.374075816986653, 90.60810340893191] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_063 + xyz: [0.3229166269302368, 0.175261989235878, 0.41336315870285034] + rpy: [-70.91822911282091, 68.80031396197346, 20.26453223002884] + scale: 1.0 + +- object_id: active_perception/omni_objects/pear/pear_035 + xyz: [0.4137435257434845, 0.0207673292607069, 0.411308228969574] + rpy: [-112.37204232499069, 6.663967661182197, -76.7263414446688] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_061 + xyz: [0.4478986859321594, -0.1251043975353241, 0.39752569794654846] + rpy: [-99.07503217111156, 1.9211743346813532, 13.461261032685417] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_056 + xyz: [0.02616669423878193, -0.04531857371330261, 0.3971235454082489] + rpy: [19.42687150826003, 16.578242155620554, -165.37891389949786] + scale: 1.0 + +- object_id: active_perception/omni_objects/knife/knife_031 + xyz: [0.2902570068836212, 0.051976531744003296, 0.4043921232223511] + rpy: [10.214654629351609, -80.13323649138277, -172.15758055868673] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_42.yaml b/cfg/xyz_sim/scene_42.yaml new file mode 100644 index 0000000..096954e --- /dev/null +++ b/cfg/xyz_sim/scene_42.yaml @@ -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_021 + xyz: [0.002883946755900979, -0.0011466757860034704, 0.05773858726024628] + rpy: [0.09684758124903939, -2.7910283729289276, 88.86080444614755] + scale: 1.0 + +- object_id: active_perception/omni_objects/lipstick/lipstick_028 + xyz: [0.004402879159897566, -0.004752270877361298, 0.020321086049079895] + rpy: [70.69885833792357, -73.94986470530907, -168.14121086873988] + scale: 1.0 + +- object_id: active_perception/omni_objects/walnut/walnut_039 + xyz: [0.005546616390347481, -0.030415553599596024, 0.028851404786109924] + rpy: [-91.91889537160547, -33.88068226435319, 18.183292379006467] + scale: 1.0 + +- object_id: active_perception/omni_objects/tomato/tomato_028 + xyz: [-0.018716339021921158, -0.0025207391008734703, 0.04256464168429375] + rpy: [-178.02431519004037, 83.37794025490719, -78.5125861717017] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_041 + xyz: [-0.023429052904248238, -0.030177179723978043, 0.08250382542610168] + rpy: [-150.5606249308405, -29.417739938612442, -169.9092401792252] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_038 + xyz: [0.03088737092912197, -0.0074947127141058445, 0.044958360493183136] + rpy: [-120.89228726490478, 13.84198641362346, -125.64412344069348] + scale: 1.0 + +- object_id: active_perception/omni_objects/walnut/walnut_037 + xyz: [0.025411123409867287, 0.021386146545410156, 0.03062313422560692] + rpy: [-67.5022217575223, -32.93361394893601, 81.1813179455983] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_061 + xyz: [0.04272650182247162, 0.0072078825905919075, 0.03567451983690262] + rpy: [13.883352452936737, -5.2132094752533895, 142.87176751269084] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_43.yaml b/cfg/xyz_sim/scene_43.yaml new file mode 100644 index 0000000..736c1e9 --- /dev/null +++ b/cfg/xyz_sim/scene_43.yaml @@ -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: [-9.043142199516296e-07, -8.642673492431641e-07, 0.016625702381134033] + rpy: [-1.566378876035886e-05, 4.895337608644847e-06, 90.00001931869036] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_116 + xyz: [0.3453865945339203, -0.22342710196971893, 0.4703914225101471] + rpy: [-72.23347068659766, 2.065125200327984, 175.29657823111512] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_061 + xyz: [-0.41950568556785583, -0.056041132658720016, 0.49279364943504333] + rpy: [-71.0108388931684, 75.18730162331373, 6.596427314754241] + scale: 1.0 + +- object_id: active_perception/omni_objects/waffle/waffle_042 + xyz: [-0.3934590816497803, 0.05332218483090401, 0.48099663853645325] + rpy: [53.21807762377857, 84.83880892284897, 96.71033227664945] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_054 + xyz: [0.6275076270103455, -0.191462904214859, 0.49639326333999634] + rpy: [-90.16644570764751, 61.49017321959278, -1.2451177327569494] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_043 + xyz: [0.021427584812045097, -0.031046735122799873, 0.47633904218673706] + rpy: [-95.76861232292471, -81.10295998848093, -80.80716665799598] + scale: 1.0 + +- object_id: active_perception/omni_objects/walnut/walnut_037 + xyz: [-0.08802803605794907, -0.17063580453395844, 0.48364877700805664] + rpy: [-41.22352326873257, -75.96715071663306, -59.23442182044925] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_039 + xyz: [-0.7640525102615356, 0.01671159639954567, 0.4906308948993683] + rpy: [-61.507278454203046, 28.057819582239755, 87.70141960578768] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_44.yaml b/cfg/xyz_sim/scene_44.yaml new file mode 100644 index 0000000..af18f20 --- /dev/null +++ b/cfg/xyz_sim/scene_44.yaml @@ -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_028 + xyz: [1.2656086683273315, 1.755468487739563, 0.39536169171333313] + rpy: [4.321900138802651, -1.8182459578801937, 98.87883537259145] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_105 + xyz: [-0.04144570976495743, 0.062466323375701904, 0.0766308531165123] + rpy: [-86.93404308515511, 1.9614343552060274, -5.411403531579633] + scale: 1.0 + +- object_id: active_perception/omni_objects/cup/cup_034 + xyz: [-0.1094745621085167, 0.10516357421875, 0.10798276215791702] + rpy: [-89.69151615471857, -8.79739141887526, -0.5212016532801754] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_120 + xyz: [0.07914374023675919, -0.06567899882793427, 0.06600769609212875] + rpy: [25.035829437599553, -3.479021974967483, 1.1767406121471067] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_108 + xyz: [0.031323838979005814, -0.39695924520492554, 0.0736481323838234] + rpy: [-155.0608290923892, 1.9893637045767305, 3.6182757349964065] + scale: 1.0 + +- object_id: active_perception/omni_objects/ginger/ginger_036 + xyz: [-0.10457862168550491, -0.13927437365055084, 0.06929392367601395] + rpy: [-95.51955383862781, -2.1642029577852955, -1.212715266183147] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_45.yaml b/cfg/xyz_sim/scene_45.yaml new file mode 100644 index 0000000..d632973 --- /dev/null +++ b/cfg/xyz_sim/scene_45.yaml @@ -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: [6.68596476316452e-05, -0.0006351470947265625, 0.46528860926628113] + rpy: [-1.1306138333030988e-06, -0.008433913286327182, 89.9197501504208] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_120 + xyz: [0.13768936693668365, 0.35872602462768555, 0.7977656126022339] + rpy: [-90.11393161729657, -5.075292413151635, -2.307121434593314] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_039 + xyz: [-0.15816110372543335, 0.33112144470214844, 0.7934280633926392] + rpy: [-82.28489766138023, -84.83113149322313, 77.89080902182889] + scale: 1.0 + +- object_id: active_perception/omni_objects/cup/cup_035 + xyz: [-0.09936236590147018, -0.3526317775249481, 0.8341895341873169] + rpy: [-89.93588641775304, 4.450575494674277, 3.806915632707848] + scale: 1.0 + +- object_id: active_perception/omni_objects/garlic/garlic_032 + xyz: [-0.02842695079743862, -0.2235516905784607, 0.8002589344978333] + rpy: [-89.29167419807145, 14.684528455886733, 7.316020206831069] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_129 + xyz: [0.15347221493721008, -0.25780677795410156, 0.7957563996315002] + rpy: [-86.62791329733025, 18.43021322459902, 9.55011810448806] + scale: 1.0 + +- object_id: active_perception/omni_objects/knife/knife_031 + xyz: [0.1753956526517868, 0.3945608139038086, 0.8006248474121094] + rpy: [-97.40533168993265, 83.89801794483455, -14.42795491545752] + scale: 1.0 + +- object_id: active_perception/omni_objects/ginger/ginger_039 + xyz: [-0.13511021435260773, 0.23208719491958618, 0.805314302444458] + rpy: [-90.41683809305475, -2.833537377995215, 1.9196941149734208] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_46.yaml b/cfg/xyz_sim/scene_46.yaml new file mode 100644 index 0000000..881daa5 --- /dev/null +++ b/cfg/xyz_sim/scene_46.yaml @@ -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: [0.006895285099744797, -0.009901405312120914, 0.41437849402427673] + rpy: [0.02203105638084612, -0.9603624096756689, 88.61150596294047] + scale: 1.0 + +- object_id: active_perception/omni_objects/garlic/garlic_032 + xyz: [0.044511351734399796, -0.0606166273355484, 0.8758591413497925] + rpy: [-115.77862667791833, -2.0097485354487197, 1.795410290020289] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_062 + xyz: [0.16271893680095673, 0.04041002318263054, 0.8998929858207703] + rpy: [-17.27603773362151, 71.01849006477921, 107.34091665120872] + scale: 1.0 + +- object_id: active_perception/omni_objects/soap/soap_037 + xyz: [-0.12293203175067902, 0.04082437604665756, 0.8772732019424438] + rpy: [-156.04537103318202, 1.2692776003347226, 96.9450133651313] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_47.yaml b/cfg/xyz_sim/scene_47.yaml new file mode 100644 index 0000000..219d698 --- /dev/null +++ b/cfg/xyz_sim/scene_47.yaml @@ -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: [0.001758703961968422, -7.425341755151749e-05, -0.002146119251847267] + rpy: [-0.4191507089107841, -1.4685234489335728, 89.72893038792856] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_037 + xyz: [0.0026958035305142403, 0.02326364442706108, -0.030059557408094406] + rpy: [-27.295557986576508, -74.97466484424343, 140.92433817484456] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_041 + xyz: [0.033399295061826706, -0.022959113121032715, -0.03317974507808685] + rpy: [-121.76155493312352, -41.01988001355419, 108.77851556616153] + scale: 1.0 + +- object_id: active_perception/omni_objects/soap/soap_037 + xyz: [-0.008459504693746567, -0.024805845692753792, -0.045274220407009125] + rpy: [-112.73943379630393, -23.678772804379257, 90.93010462204539] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_030 + xyz: [0.02824709564447403, -0.010435623116791248, -0.04325352609157562] + rpy: [-89.15471116597048, 73.82622667066161, 157.61862337083952] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_037 + xyz: [0.02313343994319439, -0.029546480625867844, -0.04483957588672638] + rpy: [33.84140274323915, -61.821662688603524, -108.59174170007842] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_042 + xyz: [-0.02659083716571331, -0.010209866799414158, -0.026950538158416748] + rpy: [-9.233561289183251, 52.02517070111123, 54.44365043491839] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_045 + xyz: [-0.010948993265628815, -0.025674428790807724, -0.021909866482019424] + rpy: [140.6479228697653, -62.40347378955217, -162.0799235240837] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_48.yaml b/cfg/xyz_sim/scene_48.yaml new file mode 100644 index 0000000..777873c --- /dev/null +++ b/cfg/xyz_sim/scene_48.yaml @@ -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: [-0.0044702282175421715, 0.0044686985202133656, 0.44241854548454285] + rpy: [0.006296298673915083, 0.6776364504557759, 90.67761748993806] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_047 + xyz: [0.0022012849804013968, 0.07525483518838882, 0.7675420045852661] + rpy: [-122.23251736682691, 13.056506101919059, 13.540627951427414] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_105 + xyz: [-0.03389284014701843, -0.06925743073225021, 0.7622761726379395] + rpy: [-92.3176433111517, -2.7917976372376523, 0.06437706314831079] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_045 + xyz: [0.07674913853406906, -0.044651228934526443, 0.0713404193520546] + rpy: [56.91423779742621, -89.99993765698301, 145.3445885847524] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_043 + xyz: [0.01913430355489254, -0.10978591442108154, 0.7653334140777588] + rpy: [150.58573874163335, -81.79619015922997, 55.53038236109078] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_058 + xyz: [-0.05013816058635712, 0.11647016555070877, 0.8126592040061951] + rpy: [-85.80710467691364, 24.56238147475987, 1.9589739163329685] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_128 + xyz: [-0.08240906149148941, -0.05729241669178009, 0.059984225779771805] + rpy: [-89.74202719211155, -6.558774161991819, -4.817228487534269] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_49.yaml b/cfg/xyz_sim/scene_49.yaml new file mode 100644 index 0000000..a202e65 --- /dev/null +++ b/cfg/xyz_sim/scene_49.yaml @@ -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: [9.079067967832088e-05, -0.0022134720347821712, 0.06871500611305237] + rpy: [0.0032774625212650256, -0.08231252697793963, 87.81716688836597] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_037 + xyz: [-0.010266662575304508, -0.0329284593462944, 0.027519654482603073] + rpy: [-17.796913501836716, 46.270863038832616, -12.713963701918168] + scale: 1.0 + +- object_id: active_perception/omni_objects/garlic/garlic_033 + xyz: [-0.016399698331952095, 0.02355862408876419, 0.02858392894268036] + rpy: [-48.57732637463758, 8.892370164400901, -0.8863282595330179] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_041 + xyz: [0.0028914439026266336, -0.02773580700159073, 0.04599533975124359] + rpy: [-53.4405438916531, 6.502942071079692, -46.95628435893354] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_038 + xyz: [-0.010832414031028748, -0.01864032819867134, 0.03838477283716202] + rpy: [124.43968663758206, 17.736204240146694, 63.249756878763414] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_041 + xyz: [-0.034411292523145676, -0.0006848811754025519, 0.028391247615218163] + rpy: [-68.36344900672019, 3.4036462434954364, -169.10187892637393] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_038 + xyz: [0.026748966425657272, -0.002358307596296072, 0.028200604021549225] + rpy: [-45.12616097025427, -72.93957021502993, -165.0273727982072] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_029 + xyz: [0.02137848548591137, 0.02047125995159149, 0.025184256955981255] + rpy: [-121.98450732439093, 47.04375282824774, 97.1986012648012] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_5.yaml b/cfg/xyz_sim/scene_5.yaml new file mode 100644 index 0000000..9704ea9 --- /dev/null +++ b/cfg/xyz_sim/scene_5.yaml @@ -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/biscuit/biscuit_104 + xyz: [0.2187902182340622, -0.0509926900267601, 0.4545026123523712] + rpy: [-123.99941296553573, -4.679259498585632, -5.364989949670604] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_126 + xyz: [0.1559314876794815, -0.006891753524541855, 0.4527031183242798] + rpy: [-79.48803655310087, -1.2238751611185845, 0.2985886379205077] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_040 + xyz: [0.09979255497455597, 0.04647274687886238, 0.4581356942653656] + rpy: [-41.66629293730251, -84.53199246968798, 155.0048114614722] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_061 + xyz: [0.25329744815826416, 0.12898185849189758, 0.4568517804145813] + rpy: [-90.0326895545478, -1.4248119975488942, 0.26489360860661576] + scale: 1.0 + +- object_id: active_perception/omni_objects/tomato/tomato_030 + xyz: [0.12168040871620178, -0.04139251261949539, 0.4774993360042572] + rpy: [-82.0490124388834, 2.349723781088601, 51.58218623346694] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_110 + xyz: [0.163521870970726, -0.07972187548875809, 0.44758814573287964] + rpy: [-79.85039753575236, -5.220967424900503, -3.844962441537209] + scale: 1.0 + +- object_id: active_perception/omni_objects/tomato/tomato_029 + xyz: [0.1844605654478073, 0.0394318625330925, 0.4837464690208435] + rpy: [-125.04306332503516, -59.17928790583905, 40.22384890411431] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_50.yaml b/cfg/xyz_sim/scene_50.yaml new file mode 100644 index 0000000..495c308 --- /dev/null +++ b/cfg/xyz_sim/scene_50.yaml @@ -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: [-0.003246061969548464, -0.003691340796649456, 0.35076379776000977] + rpy: [0.0013732067827766478, 0.5148422409611048, 89.41328904977921] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_037 + xyz: [-0.02333688549697399, -0.4782240688800812, 0.39501896500587463] + rpy: [-173.603734384153, -57.001674556453004, 85.50667079928544] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_045 + xyz: [0.04740513116121292, -0.10784894227981567, 0.388706237077713] + rpy: [-79.64632635540059, 31.05030703126673, 14.789345626321651] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_041 + xyz: [0.11089237779378891, 0.33133822679519653, 0.38071608543395996] + rpy: [-101.35683963274792, 15.763256532856161, -79.08322032103304] + scale: 1.0 + +- object_id: active_perception/omni_objects/soap/soap_037 + xyz: [0.21288235485553741, -0.15956145524978638, 0.38425374031066895] + rpy: [-79.78553445353471, 12.954651671326511, -85.60461208775023] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_125 + xyz: [0.1104183942079544, -0.0906282290816307, 0.374197781085968] + rpy: [-103.00544678147016, -0.970319373103763, -1.3335526366742443] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_051 + xyz: [0.23015326261520386, -0.10084830969572067, 0.4005283713340759] + rpy: [-84.74962057288542, -66.34730400319582, -18.69165159755728] + scale: 1.0 + +- object_id: active_perception/omni_objects/garlic/garlic_032 + xyz: [0.013910310342907906, -0.050166282802820206, 0.3765539228916168] + rpy: [-88.93147225018645, 11.036251558362084, 2.5985868766128264] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_51.yaml b/cfg/xyz_sim/scene_51.yaml new file mode 100644 index 0000000..1492334 --- /dev/null +++ b/cfg/xyz_sim/scene_51.yaml @@ -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: [2.2817403078079224e-08, 1.1455267667770386e-07, -0.027996301651000977] + rpy: [-2.9852568388343053e-05, 0.000367535754907937, 90.00108184660121] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_059 + xyz: [0.014285821467638016, -0.12042209506034851, 0.1319257915019989] + rpy: [-93.64881430255228, -10.08880968098058, 10.064829868887749] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_112 + xyz: [0.08051259815692902, -0.14840459823608398, 0.7081535458564758] + rpy: [-90.00755400726256, 4.103729251145464, 3.256792862450752] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_043 + xyz: [0.16184934973716736, 0.027519922703504562, 0.1096210777759552] + rpy: [-89.64897137249845, -11.335599119241701, -4.690317389757832] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_041 + xyz: [-0.04194948449730873, 0.05159102380275726, 0.7256318926811218] + rpy: [110.53558557441085, -85.42655734358966, -103.57342158336459] + scale: 1.0 + +- object_id: active_perception/omni_objects/tomato/tomato_030 + xyz: [-0.5220147967338562, -0.060855042189359665, 0.1166582778096199] + rpy: [-71.528159729903, 55.87201767870367, 51.05501944672487] + scale: 1.0 + +- object_id: active_perception/omni_objects/waffle/waffle_040 + xyz: [-0.5746006369590759, -0.01724337786436081, 0.13937242329120636] + rpy: [-89.74539303091454, 1.1727909722024064, 1.7411011530749416] + scale: 1.0 + +- object_id: active_perception/omni_objects/corn/corn_029 + xyz: [-0.43076711893081665, -0.019938243553042412, 0.11924029141664505] + rpy: [-91.2903936760665, -24.911398557955597, -2.4384957007754204] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_52.yaml b/cfg/xyz_sim/scene_52.yaml new file mode 100644 index 0000000..39334d2 --- /dev/null +++ b/cfg/xyz_sim/scene_52.yaml @@ -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: [0.006707167252898216, -0.00978370476514101, 0.3974125385284424] + rpy: [0.009930066780556862, -0.9392172848046143, 88.62478801586161] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_106 + xyz: [-0.09353232383728027, 0.07713813334703445, 0.8577260375022888] + rpy: [-82.69963581346079, -1.7758409407158438, 3.3338604880945044] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_114 + xyz: [-0.0009755418286658823, 0.0800495445728302, 0.8618637919425964] + rpy: [-89.04469212306496, 0.31543447476951847, -179.97251505249787] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_127 + xyz: [0.038756705820560455, 0.14457708597183228, 0.8597614169120789] + rpy: [89.43610090729494, 5.433446752949853, -179.68463447172866] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_067 + xyz: [0.07290107011795044, 0.05052472651004791, 0.884907066822052] + rpy: [178.89054881180132, -13.622814653242015, 101.00635532572828] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_031 + xyz: [-0.09321307390928268, -0.025698160752654076, 0.8609084486961365] + rpy: [102.98584847911462, 24.651252212165268, 177.60664710297723] + scale: 1.0 + +- object_id: active_perception/omni_objects/corn/corn_030 + xyz: [0.13197773694992065, -0.0023060599341988564, 0.8761539459228516] + rpy: [-85.23387704348053, 41.056884370506594, -2.3535542589646727] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_53.yaml b/cfg/xyz_sim/scene_53.yaml new file mode 100644 index 0000000..46b0348 --- /dev/null +++ b/cfg/xyz_sim/scene_53.yaml @@ -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: [8.083879947662354e-07, 1.8253922462463379e-06, 0.0] + rpy: [1.7454502626872624e-05, 6.48522987326021e-08, 89.99999517032747] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_127 + xyz: [-0.23691001534461975, -0.10961029678583145, 0.4562811851501465] + rpy: [-94.76766920622313, 0.5163868614877921, 13.786239649186914] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_055 + xyz: [0.39984244108200073, 0.23699530959129333, 0.49100542068481445] + rpy: [-90.66950675874246, 10.198034965615895, -2.2407057598455613] + scale: 1.0 + +- object_id: active_perception/omni_objects/lemon/lemon_033 + xyz: [0.44625869393348694, -0.07684177160263062, 0.47564658522605896] + rpy: [-86.36907943049536, -8.53378600138499, 10.302742074191533] + scale: 1.0 + +- object_id: active_perception/omni_objects/walnut/walnut_037 + xyz: [0.10427562892436981, 0.018900781869888306, 0.45815157890319824] + rpy: [-89.31885961466256, -3.653206165493389, -6.375389582243907] + scale: 1.0 + +- object_id: active_perception/omni_objects/corn/corn_032 + xyz: [0.016410425305366516, 0.1121116578578949, 0.4736463725566864] + rpy: [-93.44107345925283, -50.03546016959598, 4.340339150215235] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_039 + xyz: [-0.570878267288208, -0.09831807762384415, 0.4693850874900818] + rpy: [-109.32075707938468, 72.86347525056962, -89.9623071115054] + scale: 1.0 + +- object_id: active_perception/omni_objects/walnut/walnut_038 + xyz: [0.495231956243515, 0.18992017209529877, 0.4555791914463043] + rpy: [93.35442649529249, 40.56568294602018, -175.30917268802335] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_54.yaml b/cfg/xyz_sim/scene_54.yaml new file mode 100644 index 0000000..e67ac77 --- /dev/null +++ b/cfg/xyz_sim/scene_54.yaml @@ -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: [0.0001591704785823822, -0.0013144314289093018, 0.44803494215011597] + rpy: [-0.001163489365175445, -0.02006876981673562, 89.83404775940828] + scale: 1.0 + +- object_id: active_perception/omni_objects/lemon/lemon_030 + xyz: [0.10577105730772018, 0.35301390290260315, 0.796907365322113] + rpy: [83.79414475416895, -14.197366701629624, -157.3229833331598] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_054 + xyz: [0.04743698239326477, -0.08067844063043594, 0.7981995344161987] + rpy: [91.1412934204376, 4.602920148578543, 179.08344329613286] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_117 + xyz: [0.09453748166561127, -0.3473060727119446, 0.7803483605384827] + rpy: [-89.91867797439167, 2.420985961125996, -2.254094071106839] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_044 + xyz: [-0.05334606394171715, -0.33519062399864197, 0.7850861549377441] + rpy: [22.21649773906437, -81.57997778215571, 166.12683610295235] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_039 + xyz: [-0.08060280978679657, -0.18283188343048096, 0.7784096002578735] + rpy: [-133.30004650742177, 82.93308875929843, 80.47189564971055] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_047 + xyz: [0.12420910596847534, 0.2867569327354431, 0.7858473062515259] + rpy: [-96.0216429447672, -42.18001160599129, -21.512144358485685] + scale: 1.0 + +- object_id: active_perception/omni_objects/cup/cup_039 + xyz: [0.005057314410805702, 0.35448184609413147, 0.7939538955688477] + rpy: [128.235614577335, 25.43277590984497, 168.45817084704075] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_55.yaml b/cfg/xyz_sim/scene_55.yaml new file mode 100644 index 0000000..60290a2 --- /dev/null +++ b/cfg/xyz_sim/scene_55.yaml @@ -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: [-0.012513276189565659, -0.0025413590483367443, 0.17889578640460968] + rpy: [0.6460205149571526, 1.9250919642341942, 89.85946342612692] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_041 + xyz: [0.05048995837569237, -0.11190874874591827, 0.2159324437379837] + rpy: [-103.7496918094712, 16.454518190811612, -77.70267960838537] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_059 + xyz: [0.13026532530784607, -0.02934490144252777, 0.2426975816488266] + rpy: [-84.39861296267095, 28.40278219746186, 13.982602043220604] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_067 + xyz: [-0.013259422034025192, -0.09305231273174286, 0.2446831613779068] + rpy: [-60.86993811638005, -9.359517923659874, -95.43391317132] + scale: 1.0 + +- object_id: active_perception/omni_objects/carrot/carrot_040 + xyz: [0.03650006651878357, -0.015389659442007542, 0.21643345057964325] + rpy: [-86.39442692045061, -46.08425822587327, 12.977741786045799] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_106 + xyz: [-0.03987284377217293, 0.05427921935915947, 0.24046482145786285] + rpy: [-86.438934340548, -7.881341841070616, -20.451557111597488] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_038 + xyz: [0.0806431695818901, -0.020465072244405746, 0.21398697793483734] + rpy: [-25.290130480679327, -77.638860550212, 106.50444361351092] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_56.yaml b/cfg/xyz_sim/scene_56.yaml new file mode 100644 index 0000000..5b9c8c6 --- /dev/null +++ b/cfg/xyz_sim/scene_56.yaml @@ -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: [-0.00445573590695858, -0.011072833091020584, 0.0648726224899292] + rpy: [0.4764363444258311, -5.270263964383948e-07, 89.99999516809429] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_043 + xyz: [-0.8027703166007996, -0.18257224559783936, 0.4894527494907379] + rpy: [-80.63734622973794, 37.63727127506505, 5.024719102341037] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_128 + xyz: [0.15533548593521118, -0.2498398870229721, 0.2050500214099884] + rpy: [-90.72027248400626, 1.0143203003837935, -1.462843803457258] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_059 + xyz: [-0.5762204527854919, -0.021063217893242836, 0.9068608283996582] + rpy: [-92.79860038813202, -15.791334244757135, 10.440305323035474] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_060 + xyz: [-0.40764138102531433, -0.025068683549761772, 0.9101177453994751] + rpy: [-95.8326194260981, 38.07512392633731, -19.00930942271523] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_037 + xyz: [0.608992338180542, 0.11661236733198166, 0.8802329301834106] + rpy: [-62.79358124053367, 37.57511628533097, 88.24588937107309] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_060 + xyz: [-0.7685399651527405, -0.10027133673429489, 0.21564319729804993] + rpy: [-80.78183482408134, 55.96046302897119, 10.95045611203101] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_040 + xyz: [0.08241654187440872, 0.20676325261592865, 0.21573610603809357] + rpy: [-114.35622260843786, 64.55710249684054, 6.0914439948657] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_57.yaml b/cfg/xyz_sim/scene_57.yaml new file mode 100644 index 0000000..2f1f358 --- /dev/null +++ b/cfg/xyz_sim/scene_57.yaml @@ -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/picnic/picnic_basket_011 + xyz: [-0.002655904972925782, 0.00458406051620841, 0.14613822102546692] + rpy: [1.9389315179170472, 0.18568932750203657, 90.65005297667534] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_030 + xyz: [0.049081552773714066, 0.1008647084236145, 0.23583835363388062] + rpy: [-85.35436461688725, 7.12244403188946, 88.66828797151314] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_58.yaml b/cfg/xyz_sim/scene_58.yaml new file mode 100644 index 0000000..814b758 --- /dev/null +++ b/cfg/xyz_sim/scene_58.yaml @@ -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: [3.288034349679947e-06, 7.2196125984191895e-06, -0.07068830728530884] + rpy: [4.725136355875244e-06, 0.037309039769661524, 89.91771202354705] + scale: 1.0 + +- object_id: active_perception/omni_objects/ginger/ginger_035 + xyz: [-0.015557173639535904, 0.06933701783418655, 0.4550289213657379] + rpy: [-87.32787184733392, 6.236661643430814, 12.421135923743448] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_052 + xyz: [0.3318207561969757, 0.07113667577505112, 1.1672348976135254] + rpy: [-91.66833964760171, -30.63865880966513, -0.31276736028491947] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_128 + xyz: [0.17552517354488373, -0.031809646636247635, 1.1418832540512085] + rpy: [-84.5190883834626, -5.402897200202469, -1.3794312454162008] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_115 + xyz: [-0.3170510530471802, -0.03587181493639946, 1.1400262117385864] + rpy: [-90.0858090749074, 6.617746883753174, -0.21867978949437988] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_050 + xyz: [-0.18939632177352905, -0.06076444685459137, 0.4411473572254181] + rpy: [-89.95422243249025, 0.9473062823578521, -3.4517075879798793] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_059 + xyz: [0.10822072625160217, -0.05717717483639717, 1.1820569038391113] + rpy: [92.19996390684491, -46.34267890347711, -172.34229975858378] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_59.yaml b/cfg/xyz_sim/scene_59.yaml new file mode 100644 index 0000000..2fb7eb8 --- /dev/null +++ b/cfg/xyz_sim/scene_59.yaml @@ -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/sofa/sofa_014 + xyz: [-0.01575320027768612, 0.008740640245378017, 0.3198183476924896] + rpy: [0.014347020398924614, 2.6903408335530603, 91.44011056472787] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_046 + xyz: [0.26526331901550293, -0.13366401195526123, 0.38098493218421936] + rpy: [-165.0358051677985, 24.09923779164464, 168.01393947674654] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_038 + xyz: [0.3951660394668579, -0.18028834462165833, 0.3760699927806854] + rpy: [-99.64019542939522, 15.11601049494909, 27.655786271042118] + scale: 1.0 + +- object_id: active_perception/omni_objects/lipstick/lipstick_030 + xyz: [0.3429194688796997, -0.07913658022880554, 0.3708280920982361] + rpy: [-89.87092805308534, 3.1395967434164147, 4.441158929906474] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_044 + xyz: [0.3559272289276123, -0.05270551145076752, 0.3846929371356964] + rpy: [-90.04696251384766, -1.9891615865934977, -8.553796330370508] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_6.yaml b/cfg/xyz_sim/scene_6.yaml new file mode 100644 index 0000000..3275428 --- /dev/null +++ b/cfg/xyz_sim/scene_6.yaml @@ -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: [6.882939487695694e-06, 1.5208497643470764e-05, 0.00045680999755859375] + rpy: [3.750856185415586e-06, 0.037324187229930195, 89.91739326488607] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_028 + xyz: [0.2226414829492569, -0.09607397764921188, 0.11275661736726761] + rpy: [-148.24856945929807, 69.04528586141025, 87.52083437556807] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_042 + xyz: [-0.1141841858625412, 0.12688472867012024, 0.11890855431556702] + rpy: [-92.97949549293465, -10.205129049200245, -21.712106365261636] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_121 + xyz: [-0.10059498250484467, 0.00251935631968081, 1.2122622728347778] + rpy: [73.9255705181837, 0.5368007149203335, 4.242723491981479] + scale: 1.0 + +- object_id: active_perception/omni_objects/garlic/garlic_032 + xyz: [-0.3389880955219269, 0.009271030314266682, 1.2141836881637573] + rpy: [-87.49109724280385, 11.074442648270393, 3.0342146343837313] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_118 + xyz: [-0.27592647075653076, -0.01161855086684227, 1.2130296230316162] + rpy: [-89.89223477417522, 1.8422587923035212, 1.9756890477848215] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_130 + xyz: [-0.051784027367830276, 0.09999382495880127, 1.2121646404266357] + rpy: [0.8349331967528034, 0.24434528090203786, 3.05595422204527] + scale: 1.0 + +- object_id: active_perception/omni_objects/carrot/carrot_040 + xyz: [-0.03414059802889824, -0.08759710192680359, 0.11532104015350342] + rpy: [-103.92358692034723, -68.71027144476133, 30.070196938244592] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_60.yaml b/cfg/xyz_sim/scene_60.yaml new file mode 100644 index 0000000..d8e10f5 --- /dev/null +++ b/cfg/xyz_sim/scene_60.yaml @@ -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: [-0.0029488876461982727, -0.003033403540030122, 0.41563642024993896] + rpy: [0.05739630869657317, 0.5148356314022167, 89.41330882882043] + scale: 1.0 + +- object_id: active_perception/omni_objects/ginger/ginger_039 + xyz: [0.008001287467777729, 0.4512757956981659, 0.4577848017215729] + rpy: [-33.849001432668764, -49.636369795293945, 21.22319850135106] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_045 + xyz: [0.04071078076958656, 0.35258686542510986, 0.46306881308555603] + rpy: [169.8079411756232, 46.17706114684098, 72.27712648318085] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_104 + xyz: [-0.011600708588957787, 0.06775196641683578, 0.43841537833213806] + rpy: [-91.56152468213975, -2.877920684811863, -7.439069492967121] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_037 + xyz: [0.13967567682266235, 0.4179571270942688, 0.4455052316188812] + rpy: [29.262632322095165, -40.128608095320764, 76.02288411687448] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_041 + xyz: [0.12059629708528519, 0.012605194933712482, 0.46694907546043396] + rpy: [-119.03362022801471, -13.575896696852725, 91.79438443870605] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_063 + xyz: [0.14607124030590057, 0.17213895916938782, 0.4606384038925171] + rpy: [-142.10509569144702, 35.501572762847275, 2.5934416089169408] + scale: 1.0 + +- object_id: active_perception/omni_objects/knife/knife_031 + xyz: [0.0896100327372551, 0.2825477719306946, 0.44547900557518005] + rpy: [3.450972493880802, -86.5201081755522, -159.20968146974403] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_61.yaml b/cfg/xyz_sim/scene_61.yaml new file mode 100644 index 0000000..08ef0c1 --- /dev/null +++ b/cfg/xyz_sim/scene_61.yaml @@ -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_014 + xyz: [-0.025573590770363808, 0.0038626287132501602, 0.347139835357666] + rpy: [-0.04343210387410219, 4.372493343193178, 90.60875747946021] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_051 + xyz: [0.39130184054374695, 0.030214229598641396, 0.4278244376182556] + rpy: [-90.11775970546117, -5.037115694585482, -2.2158318310775234] + scale: 1.0 + +- object_id: active_perception/omni_objects/garlic/garlic_032 + xyz: [0.4070506691932678, -0.29396551847457886, 0.3995043635368347] + rpy: [-94.77103874656252, -14.958292812724364, -1.4936578037961203] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_039 + xyz: [0.3800676465034485, 0.09400419145822525, 0.4154616594314575] + rpy: [-89.78074812629174, -8.070230372845446, 8.776014991399451] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_028 + xyz: [0.41644561290740967, -0.1611308455467224, 0.40492063760757446] + rpy: [-92.3626821732718, -41.363215273450926, -80.90413678462563] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_040 + xyz: [0.4085729420185089, 0.07318294793367386, 0.40368252992630005] + rpy: [-77.6719688165849, -21.689015932641055, 156.24099513214998] + scale: 1.0 + +- object_id: active_perception/omni_objects/cup/cup_039 + xyz: [0.3264743387699127, 0.07039090245962143, 0.41117754578590393] + rpy: [-89.0671141611714, 0.0916869681984336, 6.751433395616957] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_123 + xyz: [0.3109615445137024, -0.06372343003749847, 0.40079909563064575] + rpy: [-90.08392750150288, -0.897961887517956, -5.988441877134502] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_62.yaml b/cfg/xyz_sim/scene_62.yaml new file mode 100644 index 0000000..e1889e7 --- /dev/null +++ b/cfg/xyz_sim/scene_62.yaml @@ -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: [-0.0037507142405956984, -0.004156182985752821, 0.32276782393455505] + rpy: [0.010688889946893538, 0.5148454101454814, 89.41331158565512] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_037 + xyz: [-0.09623250365257263, -0.07341901957988739, 0.3441675007343292] + rpy: [86.58679272824443, -81.12658594944499, 139.542222156535] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_045 + xyz: [0.2838536202907562, 0.31409719586372375, 0.3719744384288788] + rpy: [-132.1439040090126, 29.913809468689, 14.791867420354771] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_043 + xyz: [-0.013405686244368553, 0.040272872895002365, 0.3548545241355896] + rpy: [-88.87983508333473, -11.959299993661357, -6.250697089002496] + scale: 1.0 + +- object_id: active_perception/omni_objects/pear/pear_038 + xyz: [-0.011458730325102806, -0.27077150344848633, 0.3677452504634857] + rpy: [-89.87748660374487, 12.08830453472621, -4.960895766091626] + scale: 1.0 + +- object_id: active_perception/omni_objects/lipstick/lipstick_031 + xyz: [0.09394173324108124, 0.2672605514526367, 0.35126253962516785] + rpy: [-89.97203283263026, -0.5664221321337167, -1.5507725137427217] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_045 + xyz: [0.17284396290779114, 0.390241414308548, 0.3793126344680786] + rpy: [-113.54610583721045, 20.490106787037554, 73.69556225096238] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_038 + xyz: [0.3283398747444153, 0.32785892486572266, 0.35967588424682617] + rpy: [-24.455213333886924, 86.93198990999586, 118.04704025508849] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_63.yaml b/cfg/xyz_sim/scene_63.yaml new file mode 100644 index 0000000..f282396 --- /dev/null +++ b/cfg/xyz_sim/scene_63.yaml @@ -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: [-0.012426396831870079, 0.0025887356605380774, 0.13508504629135132] + rpy: [-0.63956399789161, 42.540658984684725, 83.45268297078279] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_028 + xyz: [0.024863673374056816, 0.010883592069149017, 0.07138301432132721] + rpy: [-45.16339668882792, 7.794688194523715, 88.96552803181143] + scale: 1.0 + +- object_id: active_perception/omni_objects/garlic/garlic_033 + xyz: [0.01788456365466118, 0.0024595572613179684, -458.1360168457031] + rpy: [-90.27284629398704, 0.3054314250518907, -4.654304869894273] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_041 + xyz: [-0.00940163154155016, -0.022933030501008034, 0.1008031964302063] + rpy: [-106.5693002163096, -58.93480819266424, -84.09288823807219] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_037 + xyz: [-0.019721873104572296, -0.016088012605905533, -439.36944580078125] + rpy: [-89.99999517032747, -1.5092727095493124e-06, 9.055635396813238e-07] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_061 + xyz: [-0.0006601326749660075, -0.025403589010238647, -430.136962890625] + rpy: [-90.0, -7.970845973310922e-07, 2.9713804480688954e-07] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_039 + xyz: [-0.008394590578973293, 0.020405450835824013, 0.0983828753232956] + rpy: [125.60536288836519, -65.40639090838022, -83.20389693502923] + scale: 1.0 + +- object_id: active_perception/omni_objects/garlic/garlic_032 + xyz: [-0.004915324971079826, -0.0027055731043219566, -411.95843505859375] + rpy: [-89.99999517032704, 7.546363420524375e-08, 2.263909230869809e-07] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_64.yaml b/cfg/xyz_sim/scene_64.yaml new file mode 100644 index 0000000..cf6faa2 --- /dev/null +++ b/cfg/xyz_sim/scene_64.yaml @@ -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: [-0.0002678334712982178, 0.0009468465577811003, 0.08126553893089294] + rpy: [0.005693335323295269, 0.1857031508687918, 90.6500247362617] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_128 + xyz: [-0.01711992174386978, 0.020031815394759178, 0.17076310515403748] + rpy: [-96.13706707663597, -0.05372284860844498, 179.225887573546] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_064 + xyz: [0.052038390189409256, 0.07415654510259628, 0.19422563910484314] + rpy: [-105.78117974129245, 24.12671080912972, 13.330280801533121] + scale: 1.0 + +- object_id: active_perception/omni_objects/watch/watch_015 + xyz: [-0.03855918347835541, -0.04313703998923302, 0.17719033360481262] + rpy: [-83.92867600511133, 3.558803909737485, 3.1989971699619897] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_117 + xyz: [-0.09071479737758636, 0.07352345436811447, 0.1953437328338623] + rpy: [131.682374579537, 64.6133840639479, 163.04926435557383] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_059 + xyz: [-0.021766752004623413, 0.08020241558551788, 0.19672997295856476] + rpy: [-113.76358002625132, 9.172378197775112, -17.822383161038786] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_65.yaml b/cfg/xyz_sim/scene_65.yaml new file mode 100644 index 0000000..536b081 --- /dev/null +++ b/cfg/xyz_sim/scene_65.yaml @@ -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: [0.001382753485813737, -0.00023910414893180132, 0.07462355494499207] + rpy: [-0.00038766024716974643, -1.4683330255489724, 89.72892190903148] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_038 + xyz: [0.0154807697981596, -0.029488079249858856, 0.04480123519897461] + rpy: [-73.46075747705666, -5.1654887184043465, 57.02120354439934] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_031 + xyz: [0.02319386973977089, -0.011130950413644314, 0.0350814051926136] + rpy: [108.6121683785503, 42.83922370028258, 168.46034178524263] + scale: 1.0 + +- object_id: active_perception/omni_objects/tomato/tomato_028 + xyz: [-0.015994492918252945, 0.005164073780179024, 0.048940785229206085] + rpy: [12.230559228948847, 58.4144626259403, 49.87261768402273] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_030 + xyz: [-0.03000258095562458, 0.008374939672648907, 0.033153824508190155] + rpy: [-31.559461254990662, 55.184058449091054, 79.97365587763099] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_042 + xyz: [0.026320921257138252, 0.01039472408592701, 0.0474613755941391] + rpy: [34.18788702787786, -14.41519281744211, -52.5137822158157] + scale: 1.0 + +- object_id: active_perception/omni_objects/soap/soap_037 + xyz: [0.025082703679800034, 0.030633527785539627, 0.051967233419418335] + rpy: [-47.92910598875986, 23.608969990372312, -167.1258816348196] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_041 + xyz: [-0.02117867022752762, -0.02229383774101734, 0.034863606095314026] + rpy: [123.75140678418236, -53.22050639347811, 87.06260930816673] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_66.yaml b/cfg/xyz_sim/scene_66.yaml new file mode 100644 index 0000000..376b56b --- /dev/null +++ b/cfg/xyz_sim/scene_66.yaml @@ -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: [1.0191887617111206, 1.087658405303955, 0.4824046492576599] + rpy: [94.04999280367635, 4.391675553165291, -158.39079156354768] + scale: 1.0 + +- object_id: active_perception/omni_objects/ginger/ginger_034 + xyz: [-0.08064983785152435, 0.22298605740070343, -501.39068603515625] + rpy: [-89.83845946877256, 0.2166583222278247, 0.2512530651439237] + scale: 1.0 + +- object_id: active_perception/omni_objects/lemon/lemon_029 + xyz: [0.12405267357826233, 0.05523580685257912, 0.09360718727111816] + rpy: [-88.67728248279617, 22.543337623446437, 7.751354743142221] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_046 + xyz: [-0.011441251263022423, -0.26534950733184814, 0.08759215474128723] + rpy: [-90.79587436270548, -33.74304454913596, -7.6431775304844916] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_059 + xyz: [-0.1627139449119568, -0.23359863460063934, 0.09917668998241425] + rpy: [-94.08497150671175, -15.790046270798024, 10.437392276343967] + scale: 1.0 + +- object_id: active_perception/omni_objects/cup/cup_039 + xyz: [-0.09547970443964005, -0.3412112295627594, 0.079020194709301] + rpy: [-176.60626806504496, 33.773964948197026, 9.285485330374755] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_038 + xyz: [-0.06006292626261711, -0.2564919590950012, 0.07723057270050049] + rpy: [-85.34866696650143, -24.287172895554587, 42.673746367443286] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_67.yaml b/cfg/xyz_sim/scene_67.yaml new file mode 100644 index 0000000..3d3c11d --- /dev/null +++ b/cfg/xyz_sim/scene_67.yaml @@ -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: [-1.0617077350616455e-06, 1.0263174772262573e-06, 0.2980737090110779] + rpy: [-0.000459682781315134, 4.803660574067653e-05, 90.00000482948026] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_125 + xyz: [-0.17880377173423767, -0.3430621027946472, 0.4222390651702881] + rpy: [-5.8108139076947545, 7.402074319729934, 11.626515991806684] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_045 + xyz: [-0.039416734129190445, 0.13007479906082153, 0.4448470175266266] + rpy: [-110.5226039259758, -32.55079350074289, 58.24381152547426] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_047 + xyz: [-0.07795923203229904, -0.01049976795911789, 0.40144801139831543] + rpy: [-89.53638561870773, 16.802024763217744, -12.36701714192939] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_061 + xyz: [0.14032414555549622, 0.2298567295074463, 0.2824347913265228] + rpy: [-90.01035157088229, -3.5758362551628915, 0.40143199394471224] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_041 + xyz: [-0.16917522251605988, 0.14566774666309357, 0.4074244499206543] + rpy: [-86.98269402669037, -10.938696459898642, -16.15320391236207] + scale: 1.0 + +- object_id: active_perception/omni_objects/soap/soap_037 + xyz: [-0.1527957022190094, -0.29214465618133545, 0.41495293378829956] + rpy: [-100.46522864761613, -26.001938177414537, 26.539729626943615] + scale: 1.0 + +- object_id: active_perception/omni_objects/ginger/ginger_039 + xyz: [0.001964918337762356, 0.10470718145370483, 0.41036105155944824] + rpy: [-85.03144826949699, -12.419199059379318, -7.996315697930935] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_68.yaml b/cfg/xyz_sim/scene_68.yaml new file mode 100644 index 0000000..1e1634d --- /dev/null +++ b/cfg/xyz_sim/scene_68.yaml @@ -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_028 + xyz: [5.960464477539063e-08, 6.891787052154541e-08, 0.28144797682762146] + rpy: [-7.311572756826748e-06, -7.1606436489182265e-06, 90.00001448901934] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_037 + xyz: [0.060449860990047455, 0.16614319384098053, 0.386324018239975] + rpy: [-100.9504788839068, 9.710041411993066, 20.093882778349922] + scale: 1.0 + +- object_id: active_perception/omni_objects/soap/soap_037 + xyz: [0.16648751497268677, 0.13166943192481995, 0.2628943622112274] + rpy: [87.93037753153077, 3.7290719409575104, 94.46735031984846] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_111 + xyz: [-0.04492887109518051, 0.1844634860754013, 0.3878799378871918] + rpy: [-90.62500539472148, 4.08879713675781, 3.1515647206997195] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_041 + xyz: [-0.053608570247888565, 0.04223425313830376, 0.3811678886413574] + rpy: [124.06569781831242, -78.63148602784614, 84.49949631456012] + scale: 1.0 + +- object_id: active_perception/omni_objects/waffle/waffle_040 + xyz: [0.15234160423278809, 0.048564791679382324, 0.29963141679763794] + rpy: [-92.56031028335921, 0.446694377144822, -4.677406020988758] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_69.yaml b/cfg/xyz_sim/scene_69.yaml new file mode 100644 index 0000000..12ffae9 --- /dev/null +++ b/cfg/xyz_sim/scene_69.yaml @@ -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_026 + xyz: [-0.01206004898995161, -0.0014798603951931, 0.21103592216968536] + rpy: [0.2648713309458502, 1.9395430822398756, 89.87637709944859] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_125 + xyz: [0.047479819506406784, 0.0685354545712471, 0.2622784972190857] + rpy: [-95.13109432422075, 53.96049657371685, 2.5513911778278566] + scale: 1.0 + +- object_id: active_perception/omni_objects/pear/pear_036 + xyz: [0.11505629867315292, 0.035524994134902954, 0.27960503101348877] + rpy: [-94.41766511117673, 24.640510390504993, -1.7530260801244288] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_122 + xyz: [0.005148973315954208, 0.005880699958652258, 0.24477188289165497] + rpy: [-88.46731146965882, 4.8851774005867545, 8.673879547481588] + scale: 1.0 + +- object_id: active_perception/omni_objects/lemon/lemon_029 + xyz: [0.04460873827338219, 0.13096797466278076, 0.26010969281196594] + rpy: [151.90391241042727, 78.6745707882873, -103.02324982588586] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_042 + xyz: [0.04169599711894989, -0.05750070884823799, 0.24658414721488953] + rpy: [11.113955350055516, -80.23257994643195, 154.51788588306863] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_028 + xyz: [0.16185621917247772, 0.053216416388750076, 0.24744011461734772] + rpy: [-172.16812005601574, -85.39255582798717, 51.26970550969458] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_051 + xyz: [0.032796040177345276, 0.014818048104643822, 0.27624860405921936] + rpy: [-91.9455694040312, -32.37263268703781, -17.362511669093145] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_7.yaml b/cfg/xyz_sim/scene_7.yaml new file mode 100644 index 0000000..4b459ce --- /dev/null +++ b/cfg/xyz_sim/scene_7.yaml @@ -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: [0.00026913778856396675, 0.0021119490265846252, 0.22824016213417053] + rpy: [-0.13853942248288378, -0.011954280059369146, 90.63611018366277] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_128 + xyz: [-0.02997380495071411, 0.0631929263472557, 0.512463390827179] + rpy: [-90.1029273311975, -3.862605138715767, 3.4758459597194875] + scale: 1.0 + +- object_id: active_perception/omni_objects/ginger/ginger_035 + xyz: [-0.041159529238939285, 0.039572183042764664, 0.2974728047847748] + rpy: [-91.81469549020352, -30.73488829343122, 8.602900540176385] + scale: 1.0 + +- object_id: active_perception/omni_objects/carrot/carrot_040 + xyz: [-0.08248544484376907, -0.017192134633660316, 0.3046480119228363] + rpy: [134.77427516976937, -7.311081326892235, 174.32348853231656] + scale: 1.0 + +- object_id: active_perception/omni_objects/cup/cup_036 + xyz: [-0.00011768948752433062, 0.12456241250038147, 0.3338857591152191] + rpy: [-89.07643243893803, 0.8070121753736781, -0.6564576449430497] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_059 + xyz: [-0.11891406029462814, 0.17114746570587158, 0.5354589819908142] + rpy: [-92.79774644994407, -15.72574402555477, 10.497760662478285] + scale: 1.0 + +- object_id: active_perception/omni_objects/pear/pear_039 + xyz: [0.025967203080654144, 0.13942891359329224, 0.5285421013832092] + rpy: [-88.50877801742587, 13.156289392017287, 5.447850793266608] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_70.yaml b/cfg/xyz_sim/scene_70.yaml new file mode 100644 index 0000000..6209eae --- /dev/null +++ b/cfg/xyz_sim/scene_70.yaml @@ -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/table/table_025 + xyz: [-0.0014063366688787937, 0.0050314925611019135, 0.15709619224071503] + rpy: [-0.5001919307014511, -0.01195071715143143, 90.63610037341475] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_065 + xyz: [-0.04758719727396965, -0.05028793215751648, 0.4650489091873169] + rpy: [56.45475757814866, 49.388686207985025, 145.96363364830603] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_039 + xyz: [0.13211193680763245, 0.20163775980472565, 0.44745853543281555] + rpy: [-90.50975287175162, -8.873325026226372, 7.9603035774172985] + scale: 1.0 + +- object_id: active_perception/omni_objects/lemon/lemon_033 + xyz: [0.13076962530612946, 0.07298938930034637, 0.45521223545074463] + rpy: [-87.29449024994304, -8.500179818358985, 10.323140225257124] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_71.yaml b/cfg/xyz_sim/scene_71.yaml new file mode 100644 index 0000000..20374d9 --- /dev/null +++ b/cfg/xyz_sim/scene_71.yaml @@ -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: [0.0002777688205242157, -0.002688467502593994, 0.45351549983024597] + rpy: [-0.001854063650704176, -0.03567087268092506, 89.6615703759674] + scale: 1.0 + +- object_id: active_perception/omni_objects/ginger/ginger_040 + xyz: [0.18123923242092133, 0.21683302521705627, 0.7927471995353699] + rpy: [-89.98941549596098, -4.172375004991992, 3.570938906548556] + scale: 1.0 + +- object_id: active_perception/omni_objects/cup/cup_039 + xyz: [-0.007584347855299711, -0.0026702797040343285, 0.7895469069480896] + rpy: [-118.24652122184986, -72.51176690009459, 41.228580793041154] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_056 + xyz: [-0.037725672125816345, 0.34263181686401367, 0.8077952265739441] + rpy: [-97.49252251220504, 7.257659613555396, -14.134028040616556] + scale: 1.0 + +- object_id: active_perception/omni_objects/cup/cup_034 + xyz: [-0.14606468379497528, 0.3503051996231079, 0.8310123085975647] + rpy: [-87.26347885370241, 18.39811099686246, -16.09389533967916] + scale: 1.0 + +- object_id: active_perception/omni_objects/tomato/tomato_030 + xyz: [0.22107240557670593, -0.2049456387758255, 0.7977958917617798] + rpy: [-89.8568683735305, 22.656008779036952, 19.55609873569808] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_031 + xyz: [0.15551812946796417, -0.2408902645111084, 0.778964638710022] + rpy: [-90.52420725566543, -10.188543452424748, 1.5177602246211412] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_045 + xyz: [0.12715822458267212, -0.22409328818321228, 0.7994602918624878] + rpy: [-89.24261088089295, 33.127100547762744, 15.812019416526356] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_72.yaml b/cfg/xyz_sim/scene_72.yaml new file mode 100644 index 0000000..37401a0 --- /dev/null +++ b/cfg/xyz_sim/scene_72.yaml @@ -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/sofa/sofa_014 + xyz: [-0.01783144474029541, 0.007134719751775265, 0.2994767129421234] + rpy: [-0.17752187275479822, 3.1789408631649594, 91.0684979503199] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_043 + xyz: [0.0029353920836001635, 0.24146291613578796, 0.38812699913978577] + rpy: [-113.14844833001484, -3.074607496363099, -12.470845229554469] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_73.yaml b/cfg/xyz_sim/scene_73.yaml new file mode 100644 index 0000000..8625242 --- /dev/null +++ b/cfg/xyz_sim/scene_73.yaml @@ -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_026 + xyz: [-0.010007976554334164, -0.0005495697259902954, 0.23304176330566406] + rpy: [0.10411447308654097, 1.9458887320265992, 89.88378148564072] + scale: 1.0 + +- object_id: active_perception/omni_objects/watch/watch_013 + xyz: [-0.06250542402267456, 0.060703568160533905, 0.2812367081642151] + rpy: [106.99601960898981, 6.962171768335496, 0.8720561777736926] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_030 + xyz: [-0.03689372539520264, 0.09469156712293625, 0.2692623436450958] + rpy: [-26.095347405710992, 0.9373374310422529, 90.39311804017495] + scale: 1.0 + +- object_id: active_perception/omni_objects/tomato/tomato_029 + xyz: [-0.053646646440029144, -0.0024876846000552177, 0.29210302233695984] + rpy: [-46.48931275893863, -13.393655744260094, 51.18659155159045] + scale: 1.0 + +- object_id: active_perception/omni_objects/lipstick/lipstick_030 + xyz: [0.026345646008849144, 0.010835841298103333, 0.264462411403656] + rpy: [88.82412101134727, 60.817414793356704, -176.4925612066329] + scale: 1.0 + +- object_id: active_perception/omni_objects/waffle/waffle_041 + xyz: [0.012116163037717342, -0.12023772299289703, 0.28635793924331665] + rpy: [49.963720293510605, -60.066780280447844, -87.04982094615193] + scale: 1.0 + +- object_id: active_perception/omni_objects/walnut/walnut_037 + xyz: [0.05550888180732727, -0.10812458395957947, 0.28077465295791626] + rpy: [-89.82708769666338, -14.402065771399155, -4.681175194747731] + scale: 1.0 + +- object_id: active_perception/omni_objects/soap/soap_037 + xyz: [0.04986763000488281, -0.03142603859305382, 0.2666603922843933] + rpy: [-1.3677905195631856, 8.241853362254297, -84.21688023054544] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_74.yaml b/cfg/xyz_sim/scene_74.yaml new file mode 100644 index 0000000..5fc8865 --- /dev/null +++ b/cfg/xyz_sim/scene_74.yaml @@ -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_021 + xyz: [0.0009324421989731491, -0.002057164441794157, -0.0018638618057593703] + rpy: [2.178999922797609, -1.0938481193369893, 89.18490142419371] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_030 + xyz: [0.019498713314533234, -0.023879384621977806, -0.04175728186964989] + rpy: [166.85973567869382, 17.668104324309358, 93.65340798265562] + scale: 1.0 + +- object_id: active_perception/omni_objects/waffle/waffle_041 + xyz: [0.005021863617002964, 0.01338847354054451, -0.007267644628882408] + rpy: [-67.26031918381082, 35.58295639561531, -11.692367680018393] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_038 + xyz: [-0.013221372850239277, -0.022754622623324394, -0.04209933429956436] + rpy: [-94.6292881970945, 27.231467473813474, -67.80581732966218] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_039 + xyz: [0.0033480129204690456, -0.03286299854516983, -0.038146909326314926] + rpy: [164.09052562580254, -28.53765914105855, 23.06158690674552] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_041 + xyz: [-0.025038255378603935, -0.013564524240791798, -0.0433717779815197] + rpy: [-178.7127396794247, -35.99044057193549, -166.74207725386262] + scale: 1.0 + +- object_id: active_perception/omni_objects/walnut/walnut_039 + xyz: [0.002448673127219081, -0.03794597089290619, -0.0067250593565404415] + rpy: [-162.57687043874586, -57.62364239361227, 75.48411421436312] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_061 + xyz: [0.0021955706179142, -0.015642087906599045, -0.016391079872846603] + rpy: [117.1392029900506, -41.521479304882526, 113.39242963809717] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_75.yaml b/cfg/xyz_sim/scene_75.yaml new file mode 100644 index 0000000..47ad2d9 --- /dev/null +++ b/cfg/xyz_sim/scene_75.yaml @@ -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: [1.9604340195655823e-07, 4.842877388000488e-08, -0.06014394760131836] + rpy: [2.1223631981991736e-05, -2.693550693081568e-07, 89.99999999999994] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_049 + xyz: [-0.5816999077796936, 0.19526307284832, 0.7489321827888489] + rpy: [-147.38937862990366, 2.312195016993639, 4.802994316915091] + scale: 1.0 + +- object_id: active_perception/omni_objects/bowl/bowl_016 + xyz: [-0.09429880231618881, -0.0664977952837944, 0.9469855427742004] + rpy: [-88.61776727487569, 43.200369767788615, -9.556649367827188] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_047 + xyz: [0.6445286870002747, -0.10684533417224884, 0.7582622766494751] + rpy: [-96.79513302094291, 16.795950512813086, -12.36831234396321] + scale: 1.0 + +- object_id: active_perception/omni_objects/tomato/tomato_030 + xyz: [-0.35093340277671814, 0.13715945184230804, 0.7727605700492859] + rpy: [-97.66683319872918, 30.977145629842713, 18.433956240980088] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_115 + xyz: [-0.14335763454437256, -0.11049054563045502, 0.7533199787139893] + rpy: [-89.99968246339314, -0.12330124493868061, 0.02357826735074688] + scale: 1.0 + +- object_id: active_perception/omni_objects/garlic/garlic_032 + xyz: [-0.45140311121940613, 0.1521240621805191, 0.3993973731994629] + rpy: [-90.00830154311888, 4.069985295937108, -0.22234486961365946] + scale: 1.0 + +- object_id: active_perception/omni_objects/cup/cup_038 + xyz: [-0.15211983025074005, 0.0683886781334877, 0.7536374926567078] + rpy: [-89.07485559453427, -41.163915957648534, -2.984288717960292] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_76.yaml b/cfg/xyz_sim/scene_76.yaml new file mode 100644 index 0000000..54880e6 --- /dev/null +++ b/cfg/xyz_sim/scene_76.yaml @@ -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: [6.851973012089729e-06, 1.521967351436615e-05, 0.00045680999755859375] + rpy: [-3.1946496027798594e-06, 0.037319959795777104, 89.91739326262392] + scale: 1.0 + +- object_id: active_perception/omni_objects/pear/pear_038 + xyz: [-0.21425315737724304, 0.09290957450866699, 0.12617512047290802] + rpy: [-136.2712401903015, 5.4930088407142, -2.3650410083354925] + scale: 1.0 + +- object_id: active_perception/omni_objects/garlic/garlic_032 + xyz: [-0.10094795376062393, -0.1231100931763649, 0.12787482142448425] + rpy: [-97.74843376015717, 8.598631618000852, 25.976890249780173] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_029 + xyz: [-0.3398788869380951, -0.08754706382751465, 0.11143847554922104] + rpy: [75.37959877327214, -71.4046167493628, -90.07044288752665] + scale: 1.0 + +- object_id: active_perception/omni_objects/cup/cup_037 + xyz: [-0.03131231665611267, -0.11476030200719833, 0.15394127368927002] + rpy: [-56.617602908382885, -4.917910047877047, -78.54177040434234] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_107 + xyz: [0.12178052216768265, 0.09944106638431549, 1.2133876085281372] + rpy: [-89.95883703476419, 2.1538777868109023, 2.115196521529691] + scale: 1.0 + +- object_id: active_perception/omni_objects/pear/pear_039 + xyz: [-0.15669198334217072, 0.09433698654174805, 1.2334835529327393] + rpy: [-89.93739222048089, 13.38401163524191, 5.48439777652991] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_040 + xyz: [0.12805914878845215, 0.05785766988992691, 0.12905478477478027] + rpy: [-41.92058112248299, 38.98507107317173, 85.92287182174415] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_77.yaml b/cfg/xyz_sim/scene_77.yaml new file mode 100644 index 0000000..cb60f5a --- /dev/null +++ b/cfg/xyz_sim/scene_77.yaml @@ -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_003 + xyz: [-1.0745134204626083e-07, 7.525086402893066e-07, -0.005629062652587891] + rpy: [3.103147283085763e-06, -1.8774527398646872e-06, 89.99999999999994] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_120 + xyz: [-0.3457590937614441, 0.18603506684303284, 0.18038010597229004] + rpy: [-89.85311557088892, -5.871288968004751, -2.8128663103795244] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_109 + xyz: [-0.48566892743110657, -0.12593939900398254, 0.18203842639923096] + rpy: [-89.9592653635121, -3.4402195605344463, -1.0955774030244507] + scale: 1.0 + +- object_id: active_perception/omni_objects/lipstick/lipstick_028 + xyz: [-0.34352782368659973, -0.0024617647286504507, 1.1944496631622314] + rpy: [-89.99860905141465, 0.0024492461868293658, 0.0001325061441065671] + scale: 1.0 + +- object_id: active_perception/omni_objects/lemon/lemon_029 + xyz: [0.4597398638725281, 0.06012766808271408, 0.20729830861091614] + rpy: [-92.09749664904729, -13.996832678677253, 25.67032716882001] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_043 + xyz: [0.2821801006793976, -0.07112938910722733, 0.18461376428604126] + rpy: [-95.69915115219767, -81.00458037499342, -81.60461196345292] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_048 + xyz: [-0.3716971278190613, -0.04904819652438164, 1.2094576358795166] + rpy: [-93.15084084886033, -37.89716322951324, 3.248826174226247] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_78.yaml b/cfg/xyz_sim/scene_78.yaml new file mode 100644 index 0000000..10719cb --- /dev/null +++ b/cfg/xyz_sim/scene_78.yaml @@ -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: [3.3639371395111084e-06, 1.5739351511001587e-06, 0.27545371651649475] + rpy: [-0.0005138442639467844, -4.657342102412781e-05, 90.00000482988139] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_049 + xyz: [0.060412757098674774, -0.08841262757778168, 0.3895251154899597] + rpy: [-17.138360488416026, 13.964518778281958, -162.84084363684718] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_105 + xyz: [-0.16449162364006042, 0.14432434737682343, 0.38482674956321716] + rpy: [-87.13751475068578, -6.888874313516987, 2.285748442658261] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_041 + xyz: [-0.014245759695768356, -0.30887576937675476, 0.3919398784637451] + rpy: [-33.44498031119806, 34.49501083136944, 87.73827033789134] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_046 + xyz: [-0.06861570477485657, 0.26032501459121704, 0.3880026638507843] + rpy: [-82.19211664586794, 54.14636589504101, 1.890564069476346] + scale: 1.0 + +- object_id: active_perception/omni_objects/pear/pear_035 + xyz: [0.059823207557201385, -0.04344546049833298, 0.3832854628562927] + rpy: [-73.6285392578066, 0.62113505175042, -91.72080251488133] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_042 + xyz: [-0.07393649965524673, 0.002505263779312372, 0.38219699263572693] + rpy: [-89.57781095046845, -6.767621650705694, -21.996723292179997] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_120 + xyz: [0.03391434997320175, -0.12767821550369263, 0.39409342408180237] + rpy: [-76.31585850398561, -54.092191137762256, -80.92648778462426] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_79.yaml b/cfg/xyz_sim/scene_79.yaml new file mode 100644 index 0000000..9c08057 --- /dev/null +++ b/cfg/xyz_sim/scene_79.yaml @@ -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_026 + xyz: [3.191409632563591e-06, 2.6293564587831497e-05, 0.3778645992279053] + rpy: [-0.006634655019742087, 2.6731243312507736e-06, 89.99998068115259] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_112 + xyz: [-0.10926023870706558, 0.20821580290794373, 0.696517288684845] + rpy: [-90.09845783805417, 4.106243944969388, 3.253683164813596] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_044 + xyz: [-0.20599547028541565, -0.07130728662014008, 0.6982414722442627] + rpy: [74.72665258145905, 81.2837601944403, 84.67677717840004] + scale: 1.0 + +- object_id: active_perception/omni_objects/bowl/bowl_015 + xyz: [0.17030444741249084, -0.08362076431512833, 0.7324205040931702] + rpy: [-94.8579081668239, -3.030367069528977, 127.50681013121682] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_116 + xyz: [-0.0042854007333517075, 0.19265438616275787, 0.7114707827568054] + rpy: [-89.34530096220217, -6.957539050639126, 1.659151790697728] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_059 + xyz: [-0.06409760564565659, 0.0998007208108902, 0.7298434972763062] + rpy: [-95.74997873133239, 6.110008637146774, 20.063953958085083] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_8.yaml b/cfg/xyz_sim/scene_8.yaml new file mode 100644 index 0000000..d0cb8f5 --- /dev/null +++ b/cfg/xyz_sim/scene_8.yaml @@ -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: [-0.003976470325142145, -0.0010194857604801655, 0.27490031719207764] + rpy: [0.4388585038694726, 0.6661655935126584, 89.48453043732003] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_060 + xyz: [-0.013236919417977333, 0.01290014199912548, 0.2993946969509125] + rpy: [-81.88853124057441, -14.13252685143749, 10.482508462207578] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_129 + xyz: [0.07053572684526443, -0.059165842831134796, 0.2803660035133362] + rpy: [-58.788093596649524, 12.565535113400665, -2.55747444737357] + scale: 1.0 + +- object_id: active_perception/omni_objects/lipstick/lipstick_029 + xyz: [-0.02488316223025322, 0.02574106864631176, 0.2751932442188263] + rpy: [115.63771378572974, -62.27405739617407, 168.74912444102432] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_046 + xyz: [0.12134285271167755, 0.02496362291276455, 0.29997655749320984] + rpy: [-93.02046305179282, 4.141168973495853, -60.16733514208742] + scale: 1.0 + +- object_id: active_perception/omni_objects/corn/corn_031 + xyz: [0.053746532648801804, -0.019188517704606056, 0.29528748989105225] + rpy: [-81.04521329852892, -6.373553090185125, -8.01158735349486] + scale: 1.0 + +- object_id: active_perception/omni_objects/carrot/carrot_040 + xyz: [-0.03715364634990692, -0.014147231355309486, 0.28027451038360596] + rpy: [-77.76001757143965, 36.30835455141672, 15.99752956670297] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_039 + xyz: [0.10257524996995926, -0.09158545732498169, 0.3013342320919037] + rpy: [-3.9796204152418597, -56.8897603398099, 174.20395642286516] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_80.yaml b/cfg/xyz_sim/scene_80.yaml new file mode 100644 index 0000000..44bd8fd --- /dev/null +++ b/cfg/xyz_sim/scene_80.yaml @@ -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: [-3.6496203392744064e-08, 9.685754776000977e-08, 0.00037091970443725586] + rpy: [-2.854242564529667e-05, -1.68095788081059e-07, 90.00000965934557] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_028 + xyz: [-0.3027162551879883, -0.16150806844234467, 0.18721099197864532] + rpy: [30.64900514363734, -80.3763644914054, -137.658584571323] + scale: 1.0 + +- object_id: active_perception/omni_objects/lemon/lemon_032 + xyz: [-0.13332761824131012, -0.15703456103801727, 0.21054665744304657] + rpy: [-93.63118512139992, 17.043435441989093, 167.90791846686542] + scale: 1.0 + +- object_id: active_perception/omni_objects/corn/corn_032 + xyz: [0.1550908386707306, 0.06195041909813881, 0.20436248183250427] + rpy: [-125.46578139805564, 54.16774477176938, -0.04835242703222556] + scale: 1.0 + +- object_id: active_perception/omni_objects/cup/cup_034 + xyz: [0.39760294556617737, -0.07622867822647095, 0.21785835921764374] + rpy: [130.20834769786907, -63.0631150356376, 179.38348765487373] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_126 + xyz: [-0.1134137511253357, 0.022314980626106262, 0.21480709314346313] + rpy: [164.44035045024017, -86.56295237423348, -25.24415938060253] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_042 + xyz: [0.2589632570743561, 0.08845112472772598, 1.208258867263794] + rpy: [-86.2772547712005, -10.258070181081319, -21.60682538057586] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_119 + xyz: [0.2607761323451996, 0.1829211562871933, 0.19263343513011932] + rpy: [-89.89033079854111, -3.8073363774248903, 3.4828221046155194] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_81.yaml b/cfg/xyz_sim/scene_81.yaml new file mode 100644 index 0000000..91f207a --- /dev/null +++ b/cfg/xyz_sim/scene_81.yaml @@ -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/picnic/picnic_basket_011 + xyz: [-0.00028351484797894955, 0.00099096167832613, 0.021121568977832794] + rpy: [0.0003741043665574689, 0.18571438452797964, 90.65002091833277] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_109 + xyz: [0.0046044811606407166, -0.03477929159998894, 0.11473434418439865] + rpy: [-85.5656279612208, -1.6132345164847945, 1.4993624702980037] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_040 + xyz: [0.04020177572965622, -0.04688725247979164, 0.12067464739084244] + rpy: [-16.71623074869472, 53.525506997801955, 73.2996838700563] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_123 + xyz: [0.0011215799022465944, 0.02853931486606598, 0.11138072609901428] + rpy: [-117.33001771176032, 31.80940844637826, -0.7296889141280337] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_060 + xyz: [0.01938900351524353, 0.06647170335054398, 0.1419203281402588] + rpy: [-43.32646674111331, 23.7723155931141, 20.012408100319462] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_82.yaml b/cfg/xyz_sim/scene_82.yaml new file mode 100644 index 0000000..b41c361 --- /dev/null +++ b/cfg/xyz_sim/scene_82.yaml @@ -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: [0.00012764055281877518, -0.0022776424884796143, 0.05172253027558327] + rpy: [0.07690247594289741, -0.08217349519761843, 87.81737940384555] + scale: 1.0 + +- object_id: active_perception/omni_objects/walnut/walnut_037 + xyz: [0.010899963788688183, -0.015914669260382652, 0.019538599997758865] + rpy: [-80.99435991192615, -5.186166246784937, -25.58202662566386] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_029 + xyz: [-0.024355024099349976, 0.017745450139045715, 0.013335115276277065] + rpy: [93.64039680329404, -12.899524979558809, 69.05741225515195] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_037 + xyz: [0.0019192788749933243, 0.02898767776787281, 0.010874140076339245] + rpy: [-138.64743735582974, -46.75181946572976, 80.3923334592991] + scale: 1.0 + +- object_id: active_perception/omni_objects/carrot/carrot_040 + xyz: [-0.012552791275084019, -0.023912271484732628, 0.0240184236317873] + rpy: [-31.334038325828683, -76.85339701294357, -41.95342322037584] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_037 + xyz: [-0.009927542880177498, 0.0011146197794005275, 0.031542710959911346] + rpy: [88.50561688891854, 41.018433775650834, 7.9227877068738835] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_031 + xyz: [0.010069552809000015, -0.0032604741863906384, 0.03258560970425606] + rpy: [2.129636740459478, 45.40883137870364, 172.22391636644176] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_039 + xyz: [-0.03384978324174881, -0.004950808361172676, 0.018354129046201706] + rpy: [-28.562149970143395, -23.12228979468271, -99.37995387448291] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_83.yaml b/cfg/xyz_sim/scene_83.yaml new file mode 100644 index 0000000..63f7f26 --- /dev/null +++ b/cfg/xyz_sim/scene_83.yaml @@ -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: [2.7669593691825867e-06, 2.456456422805786e-05, -0.005999863147735596] + rpy: [-0.000770137627581401, -2.7188436089082514e-07, 89.99998551098417] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_110 + xyz: [-0.21101565659046173, 0.11477236449718475, 0.8054687976837158] + rpy: [-89.9973311672338, -3.0166444138619073, -1.126673501763652] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_059 + xyz: [0.6175572276115417, -0.2061261385679245, 0.1609685868024826] + rpy: [-51.62773587532599, -88.60003393569514, -36.589408879391414] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_116 + xyz: [-0.11863919347524643, 0.06644672155380249, 0.13461318612098694] + rpy: [-89.96625229617753, -0.83730650024191, -2.935146016374516] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_120 + xyz: [0.2701822817325592, 0.10258223861455917, 0.13455307483673096] + rpy: [-79.32099596916306, 14.69082821851382, 0.6269861973083117] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_122 + xyz: [0.5795960426330566, -0.0038585695438086987, 0.805677592754364] + rpy: [-90.00123156651175, -1.6179055546610906e-05, 8.007412240351028e-05] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_047 + xyz: [-0.22548256814479828, -0.04839528352022171, 0.14514757692813873] + rpy: [27.78417064906757, 18.40440142303227, 179.8117452107425] + scale: 1.0 + +- object_id: active_perception/omni_objects/ginger/ginger_040 + xyz: [-0.21999028325080872, -0.15086673200130463, 0.14509053528308868] + rpy: [-109.65134993742798, -3.806788233053848, 3.4832288787811643] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_84.yaml b/cfg/xyz_sim/scene_84.yaml new file mode 100644 index 0000000..0dfcaef --- /dev/null +++ b/cfg/xyz_sim/scene_84.yaml @@ -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: [0.0011673321714624763, -3.4482625778764486e-05, 0.052064843475818634] + rpy: [-0.2863397803699252, -0.9758460184576261, 89.82217343515606] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_061 + xyz: [-0.019184699282050133, -0.009433303959667683, 0.01739073172211647] + rpy: [-82.92414003283794, -10.564760690989955, -51.53622884138258] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_037 + xyz: [0.013109018094837666, 0.034249383956193924, 0.03666161745786667] + rpy: [-114.23764509606316, 30.933352289610657, -9.294087564360511] + scale: 1.0 + +- object_id: active_perception/omni_objects/soap/soap_037 + xyz: [-0.005467858165502548, 0.02740754373371601, 0.026897676289081573] + rpy: [-9.596105019463549, 32.83941455032035, 36.66182349476462] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_037 + xyz: [0.027218656614422798, -0.02038911171257496, 0.011095328256487846] + rpy: [78.99027509460042, -44.13667211529592, 13.781524881689739] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_029 + xyz: [-0.005879923701286316, -0.03709425777196884, 0.01569148525595665] + rpy: [-79.60280050340313, -19.700787478026673, -3.597594553282622] + scale: 1.0 + +- object_id: active_perception/omni_objects/garlic/garlic_033 + xyz: [0.03627506643533707, 2.0478182705119252e-05, 0.01809331774711609] + rpy: [-179.56060575963372, 36.95356494476363, -77.03738219096334] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_85.yaml b/cfg/xyz_sim/scene_85.yaml new file mode 100644 index 0000000..180d94d --- /dev/null +++ b/cfg/xyz_sim/scene_85.yaml @@ -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: [6.901100277900696e-06, 1.5636906027793884e-05, 0.00045686960220336914] + rpy: [2.540345094384824e-06, 0.037317559706658655, 89.91732564908546] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_054 + xyz: [0.24194425344467163, -0.02066052332520485, 1.2337119579315186] + rpy: [-90.71030809962613, 26.875232155065994, -21.046728729897932] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_110 + xyz: [0.17820332944393158, -0.0807323157787323, 1.2072421312332153] + rpy: [-89.66876158101131, -5.412943215830624, -1.4017421079759003] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_122 + xyz: [-0.2946581244468689, -0.07815167307853699, 0.5048669576644897] + rpy: [-89.99972686409072, -0.08255946048741054, -0.03722934270285562] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_040 + xyz: [-0.11873634904623032, -0.02704474702477455, 0.5108729004859924] + rpy: [-89.57436635402401, 11.557276157172668, 21.89612489721756] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_117 + xyz: [0.3208611011505127, 0.08388230949640274, 1.2110278606414795] + rpy: [-89.99849756420971, -0.08658061680991375, -1.37474971347662] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_044 + xyz: [0.038846708834171295, -0.0036572343669831753, 1.2280975580215454] + rpy: [-88.6369183240112, -4.936063685413888, -13.336339407612634] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_119 + xyz: [-0.030171919614076614, -0.04128888621926308, 0.5123984217643738] + rpy: [-90.0634087543874, -3.891882138297539, 3.4455659651005734] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_86.yaml b/cfg/xyz_sim/scene_86.yaml new file mode 100644 index 0000000..1241d9f --- /dev/null +++ b/cfg/xyz_sim/scene_86.yaml @@ -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: [7.347390055656433e-05, -0.0007099956274032593, 0.46526038646698] + rpy: [2.7342936897450486e-06, -0.009369037894869375, 89.9102550087422] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_042 + xyz: [-0.18190120160579681, -0.4257824718952179, 0.8066297173500061] + rpy: [-95.44515818842726, -12.187726906559577, -20.24077585649744] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_031 + xyz: [-0.15649282932281494, 0.05104178562760353, 0.793309211730957] + rpy: [-90.17658210888608, 15.946499651261634, -2.553143344957904] + scale: 1.0 + +- object_id: active_perception/omni_objects/lipstick/lipstick_030 + xyz: [-0.13911239802837372, -0.04784880951046944, 0.7945224046707153] + rpy: [-56.925948700115825, -88.1470565073875, -34.695633473410176] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_065 + xyz: [-0.0064493208192288876, 0.3107498586177826, 0.8212128281593323] + rpy: [-38.98608264939332, 64.41599967762701, 58.53308368065165] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_122 + xyz: [0.1435786485671997, -0.39626777172088623, 0.7971068620681763] + rpy: [-90.0018569948217, -0.08993007468487926, 0.009212380981869557] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_048 + xyz: [-0.18711693584918976, -0.355323851108551, 0.8118197917938232] + rpy: [110.83800872019405, 33.351783508355346, -173.13088771054117] + scale: 1.0 + +- object_id: active_perception/omni_objects/lipstick/lipstick_028 + xyz: [0.08040450513362885, -0.38116586208343506, 0.7989243865013123] + rpy: [-89.99927209175097, -0.1046059548137074, 0.012085130217200582] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_87.yaml b/cfg/xyz_sim/scene_87.yaml new file mode 100644 index 0000000..4414ca2 --- /dev/null +++ b/cfg/xyz_sim/scene_87.yaml @@ -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: [-0.0001453098957426846, -7.048249244689941e-06, 0.065243661403656] + rpy: [0.010170748988352627, -5.674189917986605e-06, 90.00000965884189] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_038 + xyz: [0.3834586441516876, -0.07149095088243484, 0.26232874393463135] + rpy: [-60.67526580992381, -6.360869688370567, 2.8197700827233216] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_106 + xyz: [-0.028744764626026154, 0.1762123852968216, 0.18911685049533844] + rpy: [-153.5330547394108, -32.05274021036357, 65.33216271788075] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_059 + xyz: [-0.041953232139348984, -0.1760152131319046, 0.2651319205760956] + rpy: [-90.26112244241969, -2.4212420679288895, 3.2333599072255135] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_048 + xyz: [-0.32268765568733215, 0.007759859319776297, 0.0856565311551094] + rpy: [-98.0148449619671, -37.90211379447038, 3.247143565048957] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_029 + xyz: [-0.25493207573890686, -0.061150308698415756, 0.9992259740829468] + rpy: [-64.171959096863, 84.15214968775625, 112.5698489501347] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_037 + xyz: [-0.21608518064022064, 0.08667658269405365, 1.000050663948059] + rpy: [26.83635909086416, 79.13998128908506, 92.73540647316601] + scale: 1.0 + +- object_id: active_perception/omni_objects/pear/pear_037 + xyz: [-0.08752449601888657, 0.22736015915870667, 1.0369553565979004] + rpy: [-129.35949922869224, 50.475014764037546, -67.37904964630052] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_88.yaml b/cfg/xyz_sim/scene_88.yaml new file mode 100644 index 0000000..2592d1d --- /dev/null +++ b/cfg/xyz_sim/scene_88.yaml @@ -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: [-7.523968815803528e-05, 0.005662169307470322, 0.18924373388290405] + rpy: [-0.41182892887442063, -0.011930878800423258, 90.6360892100996] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_062 + xyz: [0.006926136091351509, 0.09183687716722488, 0.49738195538520813] + rpy: [-90.6232109743565, 25.954661199292712, -2.6727816631602077] + scale: 1.0 + +- object_id: active_perception/omni_objects/corn/corn_031 + xyz: [-0.16031993925571442, -0.06639155000448227, 0.4855399429798126] + rpy: [-90.63758528305316, -49.913979225600194, 4.446335807935492] + scale: 1.0 + +- object_id: active_perception/omni_objects/garlic/garlic_033 + xyz: [0.1267828494310379, -0.05545390024781227, 0.4687686562538147] + rpy: [97.5953540555294, -1.3179620850681097, -178.865581434869] + scale: 1.0 + +- object_id: active_perception/omni_objects/pear/pear_037 + xyz: [0.07206540554761887, 0.03641929104924202, 0.4971790313720703] + rpy: [-166.1332816802122, 60.497293992085545, -98.49404118720469] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_037 + xyz: [0.11258602142333984, 0.04861752316355705, 0.21461385488510132] + rpy: [164.43415278853243, 52.71612174455358, 84.91480136801503] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_039 + xyz: [-0.042758505791425705, 0.06335312128067017, 0.47061818838119507] + rpy: [-84.17392852601995, 40.912883503101234, -139.53693657949498] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_89.yaml b/cfg/xyz_sim/scene_89.yaml new file mode 100644 index 0000000..175b1b4 --- /dev/null +++ b/cfg/xyz_sim/scene_89.yaml @@ -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_026 + xyz: [4.230532795190811e-07, 2.3469328880310059e-07, 0.4100126326084137] + rpy: [-1.8252777399085946e-05, -3.213807227991593e-05, 90.00003380771584] + scale: 1.0 + +- object_id: active_perception/omni_objects/lemon/lemon_031 + xyz: [0.1356734335422516, -0.027284938842058182, 0.03775759041309357] + rpy: [-91.26469008278805, -0.35959652024337607, -1.0167556676227902] + scale: 1.0 + +- object_id: active_perception/omni_objects/corn/corn_030 + xyz: [-0.05527402088046074, -0.14205342531204224, 0.03638928383588791] + rpy: [-27.36587390985027, 15.703914892515954, -10.210175619004362] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_039 + xyz: [-0.05107331648468971, -0.04975581914186478, 0.047353506088256836] + rpy: [-71.56736503502924, -3.235453764868657, 23.462615406551866] + scale: 1.0 + +- object_id: active_perception/omni_objects/soap/soap_037 + xyz: [-0.02914530783891678, 0.19489143788814545, 0.7324475049972534] + rpy: [-129.99700289216472, 2.268512167806058, 95.01022261994214] + scale: 1.0 + +- object_id: active_perception/omni_objects/lipstick/lipstick_031 + xyz: [0.08810104429721832, 0.17646263539791107, 0.7307496070861816] + rpy: [-90.08654236982731, -1.3633835053352905, 1.5499213354922563] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_9.yaml b/cfg/xyz_sim/scene_9.yaml new file mode 100644 index 0000000..3218e84 --- /dev/null +++ b/cfg/xyz_sim/scene_9.yaml @@ -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: [9.898282587528229e-05, -0.0009979605674743652, 0.44816112518310547] + rpy: [-0.0019236106781457052, -0.013707987533133752, 89.87410029711874] + scale: 1.0 + +- object_id: active_perception/omni_objects/waffle/waffle_040 + xyz: [-0.11944551765918732, 0.04113759472966194, 0.8122217059135437] + rpy: [-90.01654173274518, -3.9637655588475886, -0.5230096123378709] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_038 + xyz: [-0.1309722512960434, -0.24932676553726196, 0.7850207686424255] + rpy: [-101.93499940483797, 13.725915220273338, 21.499540589126685] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_031 + xyz: [0.2026631385087967, -0.23303572833538055, 0.7741584181785583] + rpy: [-86.86181399880526, 15.87962495666503, -1.4690531508548352] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_129 + xyz: [0.08197429031133652, -0.3999693989753723, 0.782148003578186] + rpy: [-16.81489250760499, 1.8516934531511837, 1.0721385757287651] + scale: 1.0 + +- object_id: active_perception/omni_objects/tomato/tomato_028 + xyz: [0.015220582485198975, -0.21095016598701477, 0.7910074591636658] + rpy: [-107.37888327868917, 71.77455944858714, 42.33383182526639] + scale: 1.0 + +- object_id: active_perception/omni_objects/cup/cup_036 + xyz: [0.09369556605815887, -0.23804405331611633, 0.8116806149482727] + rpy: [68.89868845287154, 61.1911147340817, 172.16476968786807] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_90.yaml b/cfg/xyz_sim/scene_90.yaml new file mode 100644 index 0000000..8ce6b46 --- /dev/null +++ b/cfg/xyz_sim/scene_90.yaml @@ -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/blender/blender_cabinet_007 + xyz: [-2.5122426450252533e-07, -3.725290298461914e-09, -0.006296426057815552] + rpy: [2.0066254137949926e-05, -2.6483039186275686e-06, 90.00000965934586] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_039 + xyz: [0.3404531478881836, 0.10718400031328201, 0.12337004393339157] + rpy: [-130.09649803576215, -81.39420456301114, 114.30319215846139] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_042 + xyz: [-0.24077124893665314, -0.15295295417308807, 0.7418116927146912] + rpy: [-87.62956844204548, -10.257566130238006, -21.60783964635532] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_129 + xyz: [-0.0804676041007042, -0.18895970284938812, 0.7346137166023254] + rpy: [-89.97518559144318, 1.9013057433873854, 1.1888406950890296] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_91.yaml b/cfg/xyz_sim/scene_91.yaml new file mode 100644 index 0000000..939d434 --- /dev/null +++ b/cfg/xyz_sim/scene_91.yaml @@ -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: [-0.0034265071153640747, -0.0004189303144812584, 0.2974872291088104] + rpy: [-0.07994571002948037, 0.8314539795609394, 89.70485969640694] + scale: 1.0 + +- object_id: active_perception/omni_objects/walnut/walnut_038 + xyz: [0.02194279059767723, -0.10700667649507523, 0.3089102804660797] + rpy: [127.16792087282587, 80.61826385197351, -111.66321733771895] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_115 + xyz: [0.019356131553649902, 0.036829881370067596, 0.30042916536331177] + rpy: [-61.35243712211497, -6.301655748211146, -79.76227457030963] + scale: 1.0 + +- object_id: active_perception/omni_objects/banana/banana_044 + xyz: [0.11574447900056839, -0.033215925097465515, 0.325130820274353] + rpy: [-32.52510307752366, 23.868392288462285, 70.04680686713814] + scale: 1.0 + +- object_id: active_perception/omni_objects/cup/cup_039 + xyz: [-0.0032719445880502462, -0.06561443954706192, 0.30486011505126953] + rpy: [100.64671618181639, -62.52198349398315, -0.5001802603456371] + scale: 1.0 + +- object_id: active_perception/omni_objects/corn/corn_030 + xyz: [0.018260378390550613, -0.014711788855493069, 0.31802812218666077] + rpy: [100.37465466713259, 41.48045952690494, -173.7940502383619] + scale: 1.0 + +- object_id: active_perception/omni_objects/lipstick/lipstick_031 + xyz: [0.10098665952682495, 0.04157233238220215, 0.3031448423862457] + rpy: [103.21225819491836, 34.12240170956385, -165.39252814863215] + scale: 1.0 + +- object_id: active_perception/omni_objects/bowl/bowl_017 + xyz: [0.10205013304948807, 0.06564881652593613, 0.351503849029541] + rpy: [-104.23549808997157, 10.00642602963308, 82.52174266964474] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_92.yaml b/cfg/xyz_sim/scene_92.yaml new file mode 100644 index 0000000..5a24738 --- /dev/null +++ b/cfg/xyz_sim/scene_92.yaml @@ -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_023 + xyz: [0.0003846663748845458, -0.0006048893555998802, -0.0016616927459836006] + rpy: [0.13766237143511525, -0.32459678658091534, 89.45968190637409] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_040 + xyz: [0.013761465437710285, -0.018494736403226852, -0.04155493900179863] + rpy: [77.3744832856613, -46.746506334400046, 85.56011586534835] + scale: 1.0 + +- object_id: active_perception/omni_objects/garlic/garlic_032 + xyz: [-0.024371925741434097, -0.0015725818229839206, -0.041001997888088226] + rpy: [130.94214813516433, 12.345670552026077, 175.53931402906753] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_045 + xyz: [-0.01672065444290638, -0.014467110857367516, -0.03224702179431915] + rpy: [-18.99647189238966, 60.420969077301955, 31.244105381107733] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_061 + xyz: [0.0014771543210372329, -0.00032587337773293257, -0.04307562857866287] + rpy: [30.769110235234542, -75.22004295613075, -168.68862378169007] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_041 + xyz: [0.018264517188072205, 0.010489502921700478, -0.03656022995710373] + rpy: [5.991207749788665, -63.589478802486006, -47.69230077418706] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_038 + xyz: [0.02519538626074791, -0.02631794661283493, -0.027130182832479477] + rpy: [-80.55658084692875, 25.1200069563509, 79.6438768510495] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_93.yaml b/cfg/xyz_sim/scene_93.yaml new file mode 100644 index 0000000..9652b8a --- /dev/null +++ b/cfg/xyz_sim/scene_93.yaml @@ -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: [0.00121364276856184, -0.003727440256625414, 0.3475756049156189] + rpy: [0.06970140889905814, -0.12070504338968069, 89.49373134578609] + scale: 1.0 + +- object_id: active_perception/omni_objects/cup/cup_034 + xyz: [-0.10782050341367722, -0.1242535337805748, 0.834889829158783] + rpy: [89.14071722271574, -59.11825736274696, 179.94242709810925] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_112 + xyz: [0.1548844277858734, 0.09739700704813004, 0.8287165760993958] + rpy: [-94.39028928313343, -17.209338442588066, 0.3071907644498025] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_054 + xyz: [0.080324187874794, -0.11180605739355087, 0.8269708156585693] + rpy: [-95.17707873773132, 25.0171236138028, -21.04496268680013] + scale: 1.0 + +- object_id: active_perception/omni_objects/cup/cup_033 + xyz: [0.0793667584657669, 0.03589707612991333, 0.8356848955154419] + rpy: [73.97517747531721, 59.059261487375245, 163.72533890517684] + scale: 1.0 + +- object_id: active_perception/omni_objects/corn/corn_031 + xyz: [0.012587593868374825, 0.12936708331108093, 0.8284088969230652] + rpy: [101.5712591808141, -5.097176634127458, -177.42220250087314] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_054 + xyz: [-0.08698488026857376, -0.053261253982782364, 0.8295174241065979] + rpy: [88.34424901274403, -34.06818172451939, -178.89566860176694] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_94.yaml b/cfg/xyz_sim/scene_94.yaml new file mode 100644 index 0000000..d1c8251 --- /dev/null +++ b/cfg/xyz_sim/scene_94.yaml @@ -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: [1.9305385649204254e-05, 1.1181458830833435e-05, 0.43201759457588196] + rpy: [0.004986071233648044, 0.00028196819714576944, 90.00003864965095] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_055 + xyz: [-0.04731648787856102, -0.0030226390808820724, 0.7694752216339111] + rpy: [-90.65720253219821, 4.457306744324181, -0.12398042647738308] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_122 + xyz: [0.1043674424290657, 0.003823523409664631, 0.04371459037065506] + rpy: [-89.94028252309126, 0.3484456228615852, 14.9636988541386] + scale: 1.0 + +- object_id: active_perception/omni_objects/waffle/waffle_041 + xyz: [0.048143208026885986, -0.12947408854961395, 0.04813054949045181] + rpy: [108.78658705458508, -78.0358562488778, 168.5996555261781] + scale: 1.0 + +- object_id: active_perception/omni_objects/waffle/waffle_042 + xyz: [0.16153986752033234, -0.19756467640399933, 0.023850973695516586] + rpy: [136.3166728247075, -62.55110031266165, 139.2453377465933] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_061 + xyz: [0.09643960744142532, -0.018795840442180634, 0.769694447517395] + rpy: [-78.4699732544476, 63.38082902136144, 8.719694431281384] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_052 + xyz: [-0.15831908583641052, 0.0505845881998539, 0.7822059392929077] + rpy: [-93.63894464901729, -41.903210649083746, 3.078305244620023] + scale: 1.0 + +- object_id: active_perception/omni_objects/potato/potato_050 + xyz: [-0.09899386018514633, -0.05959727242588997, 0.047647036612033844] + rpy: [-89.91323655655528, -2.8894477377435512, -10.162161346633805] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_95.yaml b/cfg/xyz_sim/scene_95.yaml new file mode 100644 index 0000000..c72037c --- /dev/null +++ b/cfg/xyz_sim/scene_95.yaml @@ -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: [5.94649463891983e-07, -2.60770320892334e-07, -0.027995586395263672] + rpy: [5.346554449472765e-05, -5.99434777094406e-07, 89.99999999999972] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_126 + xyz: [0.2042940855026245, -0.02029137685894966, 0.4271237552165985] + rpy: [-90.3630919516867, -1.0757923166001087, -5.226763629768296] + scale: 1.0 + +- object_id: active_perception/omni_objects/cup/cup_037 + xyz: [-0.5315791964530945, 0.031075498089194298, 0.814786970615387] + rpy: [-89.66927959634988, 0.6796272479213972, 7.341375454833448] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_045 + xyz: [-0.3813962936401367, -0.010762262158095837, 0.42876750230789185] + rpy: [97.62884094798422, 75.30379439023469, 94.39051107423256] + scale: 1.0 + +- object_id: active_perception/omni_objects/soap/soap_037 + xyz: [-0.5823224782943726, -0.017122820019721985, 0.42739853262901306] + rpy: [-108.511776341796, -6.646069631444614, 89.90623948073201] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_112 + xyz: [-0.05712686479091644, -0.15480010211467743, 0.7813110947608948] + rpy: [-89.86741301961777, 4.103209820713107, 3.256174707801316] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_118 + xyz: [-0.08118802309036255, 0.14573083817958832, 0.42992955446243286] + rpy: [-90.02356181457937, 2.083041161861455, 2.082444154658929] + scale: 1.0 + +- object_id: active_perception/omni_objects/egg/egg_040 + xyz: [-0.07219241559505463, -0.23321470618247986, 0.7984811663627625] + rpy: [-91.7644289006057, -9.227565856912523, 14.928822262367822] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_96.yaml b/cfg/xyz_sim/scene_96.yaml new file mode 100644 index 0000000..269dc47 --- /dev/null +++ b/cfg/xyz_sim/scene_96.yaml @@ -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: [-0.00011451132013462484, -0.0029473481699824333, 0.13037455081939697] + rpy: [-0.1889764433576518, 1.807952193489841, 86.45070730277466] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_040 + xyz: [0.005335865076631308, -0.00430641882121563, -483.988037109375] + rpy: [-89.86820875169025, 1.4865428214304328, 2.0664660057113395] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_030 + xyz: [-0.04198644682765007, 0.05416711047291756, 0.06757911294698715] + rpy: [-46.965821285668156, -17.96413315838279, -1.1662722883432277] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_038 + xyz: [0.061694659292697906, -0.017318617552518845, 0.08923119306564331] + rpy: [-32.74323451338589, -67.79322708080213, 135.5963194140108] + scale: 1.0 + +- object_id: active_perception/omni_objects/carrot/carrot_040 + xyz: [0.04834108054637909, -0.007502344436943531, -456.2336120605469] + rpy: [-89.74846283703071, 0.3379612758073795, -0.38310191885866585] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_041 + xyz: [0.07092751562595367, 0.01198418065905571, 0.09006943553686142] + rpy: [62.26070305910298, 26.175636147331304, 132.18156792257236] + scale: 1.0 + +- object_id: active_perception/omni_objects/apple/apple_067 + xyz: [-0.022755417972803116, -0.004508165642619133, 0.1089572086930275] + rpy: [-43.37800501876095, -6.692533125352473, -21.793790298725295] + scale: 1.0 + +- object_id: active_perception/omni_objects/lipstick/lipstick_031 + xyz: [-0.003896786831319332, 0.005904720164835453, -427.6952209472656] + rpy: [-90.0, -7.970845973310922e-07, 2.9713804480688954e-07] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_97.yaml b/cfg/xyz_sim/scene_97.yaml new file mode 100644 index 0000000..43690f6 --- /dev/null +++ b/cfg/xyz_sim/scene_97.yaml @@ -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: [1.019798219203949e-07, -1.6670674085617065e-07, 0.4490084946155548] + rpy: [-4.810806056473641e-06, -1.416829939893672e-05, 89.99999034065428] + scale: 1.0 + +- object_id: active_perception/omni_objects/garlic/garlic_032 + xyz: [0.05509336665272713, -0.06061878427863121, 0.7680295705795288] + rpy: [-86.71419850313434, 11.34516397285041, 3.2499844522980164] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_110 + xyz: [-0.04028870165348053, -0.0886726900935173, 0.05963369831442833] + rpy: [-88.72016870738243, -12.95976287373628, -14.887681160983558] + scale: 1.0 + +- object_id: active_perception/omni_objects/lemon/lemon_029 + xyz: [0.019057437777519226, -0.04078104346990585, 0.7937542796134949] + rpy: [-114.68081928887925, -51.816045247377126, 46.505404116513056] + scale: 1.0 + +- object_id: active_perception/omni_objects/ginger/ginger_039 + xyz: [-0.1460227221250534, -0.004384148865938187, 0.7811696529388428] + rpy: [-84.06695277786372, -11.488948735716557, 2.783240714308409] + scale: 1.0 + +- object_id: active_perception/omni_objects/pear/pear_037 + xyz: [0.10961853712797165, 0.037874702364206314, 0.09003868699073792] + rpy: [-99.63067789245912, 37.77034199081967, -18.21447813000105] + scale: 1.0 + +- object_id: active_perception/omni_objects/pear/pear_038 + xyz: [0.2433578073978424, -0.08943427354097366, 0.7803506851196289] + rpy: [-88.82243145034553, 5.527193633699167, -2.249185171466992] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_115 + xyz: [0.1115315780043602, -0.12298978865146637, 0.050910644233226776] + rpy: [77.87214168737572, 20.480388323603506, 175.22568325697935] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_98.yaml b/cfg/xyz_sim/scene_98.yaml new file mode 100644 index 0000000..3a7ccb6 --- /dev/null +++ b/cfg/xyz_sim/scene_98.yaml @@ -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: [0.0015584069769829512, -0.00016542509547434747, 0.05799773707985878] + rpy: [-0.1912170532617636, -1.4683248757171952, 89.72894216760326] + scale: 1.0 + +- object_id: active_perception/omni_objects/peanut/peanut_028 + xyz: [-0.03234339505434036, -0.004587495233863592, 0.021179266273975372] + rpy: [-75.65087962293036, -28.426299732601557, -38.23441458372705] + scale: 1.0 + +- object_id: active_perception/omni_objects/carrot/carrot_040 + xyz: [-0.009621236473321915, -0.025224080309271812, 0.019394075497984886] + rpy: [160.66667486257927, -69.33799486206999, 82.50500307789065] + scale: 1.0 + +- object_id: active_perception/omni_objects/popcorn/popcorn_040 + xyz: [0.02337067760527134, -0.030150659382343292, 0.015019532293081284] + rpy: [141.16725742750282, -42.62871432473759, -156.47993915586986] + scale: 1.0 + +- object_id: active_perception/omni_objects/shrimp/shrimp_042 + xyz: [-0.00573580851778388, 0.025587432086467743, 0.027294309809803963] + rpy: [-157.54371632783776, -74.1850187514347, 1.9369011332228327] + scale: 1.0 + +- object_id: active_perception/omni_objects/walnut/walnut_038 + xyz: [-0.0095298420637846, 0.020787889137864113, 0.017452221363782883] + rpy: [-82.06834523895249, -79.80307710529402, -54.33844091446815] + scale: 1.0 + +- object_id: active_perception/omni_objects/walnut/walnut_039 + xyz: [0.02535301446914673, 0.008759889751672745, 0.027046162635087967] + rpy: [-145.11166131189745, 63.01954255898113, 13.553434085452865] + scale: 1.0 + +- object_id: active_perception/omni_objects/garlic/garlic_033 + xyz: [-0.0038876936305314302, -0.003299699630588293, 0.021635137498378754] + rpy: [-110.93935326906644, 21.36151526192493, 0.5192189793838057] + scale: 1.0 diff --git a/cfg/xyz_sim/scene_99.yaml b/cfg/xyz_sim/scene_99.yaml new file mode 100644 index 0000000..ffb446b --- /dev/null +++ b/cfg/xyz_sim/scene_99.yaml @@ -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_009 + xyz: [4.654284566640854e-06, 1.12876296043396e-05, -0.016544461250305176] + rpy: [-3.2989553635665893e-06, 0.037202245869601636, 89.91797282322023] + scale: 1.0 + +- object_id: active_perception/omni_objects/biscuit/biscuit_129 + xyz: [0.12370025366544724, -0.04444575682282448, 0.4905914068222046] + rpy: [-90.24682323947836, 1.811950033964726, 1.18749440715268] + scale: 1.0 + +- object_id: active_perception/omni_objects/bottle/bottle_058 + xyz: [-0.3175164759159088, -0.023932067677378654, 0.63758385181427] + rpy: [-71.01497968934207, -2.197679140573226, 14.078263559198732] + scale: 1.0 + +- object_id: active_perception/omni_objects/lipstick/lipstick_028 + xyz: [-0.3371700048446655, -0.06648455560207367, 0.48879382014274597] + rpy: [106.99367875718377, 60.660511924969704, 179.67002692297555] + scale: 1.0 + +- object_id: active_perception/omni_objects/ginger/ginger_035 + xyz: [-0.0916185975074768, 0.11218777298927307, 1.208400845527649] + rpy: [-44.023723898363905, -0.9371504585731709, -174.29968853343675] + scale: 1.0 + +- object_id: active_perception/omni_objects/cup/cup_034 + xyz: [-0.19892971217632294, 0.025703903287649155, 1.2335636615753174] + rpy: [-116.59947992522142, 18.8985379009959, -1.4070551932796318] + scale: 1.0 diff --git a/scripts/bt_sim_node.py b/scripts/bt_sim_node.py index 033fab2..f222b94 100755 --- a/scripts/bt_sim_node.py +++ b/scripts/bt_sim_node.py @@ -86,6 +86,7 @@ class BtSimNode: self.deactivate_controllers() rospy.sleep(1.0) # TODO replace with a read-write lock bbox = self.sim.reset() + #import ipdb; ipdb.set_trace() self.activate_plugins() return ResetResponse(to_bbox_msg(bbox)) diff --git a/src/active_grasp/active_perception/configs/local_inference_config.yaml b/src/active_grasp/active_perception/configs/local_inference_config.yaml index 08bade0..d6e5721 100755 --- a/src/active_grasp/active_perception/configs/local_inference_config.yaml +++ b/src/active_grasp/active_perception/configs/local_inference_config.yaml @@ -12,7 +12,7 @@ settings: experiment: name: test_inference root_dir: "experiments" - model_path: "/media/hofee/data/weights/nbv_grasping/grasping_full_centralized_ood_111.pth" + model_path: "/media/hofee/data/weights/nbv_grasping/241204_centralized_ood.pth" use_cache: True small_batch_overfit: False diff --git a/src/active_grasp/active_perception_policy.py b/src/active_grasp/active_perception_policy.py index 39725f8..1c391f1 100644 --- a/src/active_grasp/active_perception_policy.py +++ b/src/active_grasp/active_perception_policy.py @@ -187,16 +187,33 @@ class ActivePerceptionSingleViewPolicy(SingleViewPolicy): gsnet_input_points = PtsUtil.random_downsample_point_cloud(gsnet_input_points, required_num_points) self.publish_pointcloud(gsnet_input_points) - + gsnet_grasping_poses = np.asarray(self.request_grasping_pose(gsnet_input_points.tolist())) print(gsnet_grasping_poses[0].keys()) - #import ipdb; ipdb.set_trace() - # DEBUG: publish grasps + # ---------------------------------------------------------------- + # FIXME: # self.publish_grasps(gsnet_grasping_poses) # Convert all grasping poses' reference frame to arm frame current_cam_pose = torch.from_numpy(x.as_matrix()).float().to("cuda:0") + + # 将点云转æ¢ä¸ºé½æ¬¡åæ ‡ + points_homogeneous = np.ones((gsnet_input_points.shape[0], 4)) + points_homogeneous[:, 0:3] = gsnet_input_points + + # 使用相机ä½å§¿çŸ©é˜µè½¬æ¢åˆ°ä¸–ç•Œå标系 + world_points = (current_cam_pose.cpu().numpy() @ points_homogeneous.T).T + + # åªä¿ç•™xyzåæ ‡ + world_points = world_points[:, 0:3] + + # ä¿å­˜ä¸ºtxt文件 + np.savetxt('gsnet_input_world_points.txt', world_points) + + import ipdb; ipdb.set_trace() + # ---------------------------------------------------------------- + for gg in gsnet_grasping_poses: gg['T'] = current_cam_pose.cpu().numpy().dot(np.asarray(gg['T'])) R = np.array([[0, 0, 1], [0, 1, 0], [-1, 0, 0]]) @@ -211,10 +228,17 @@ class ActivePerceptionSingleViewPolicy(SingleViewPolicy): grasp = ParallelJawGrasp(T, width) grasps.append(grasp) qualities.append(gg['score']) - + # ---------------------------------------------------------------- # Visualize grasps - # self.vis.grasps(self.base_frame, grasps, qualities) - + import ipdb; ipdb.set_trace() + grasp_points = [] + for grasp, quality in zip(grasps, qualities): + pose = grasp.pose + # tip = pose.rotation.apply([0, 0, 0.05]) + pose.translation + tip = pose.translation + grasp_points.append(tip) + np.savetxt('grasp_points.txt', grasp_points) + # ---------------------------------------------------------------- # Filter grasps filtered_grasps = [] filtered_qualities = [] diff --git a/src/active_grasp/controller.py b/src/active_grasp/controller.py index 309cc71..e778afc 100644 --- a/src/active_grasp/controller.py +++ b/src/active_grasp/controller.py @@ -17,6 +17,9 @@ from robot_helpers.ros.moveit import MoveItClient, create_collision_object_from_ from robot_helpers.spatial import Rotation, Transform from vgn.utils import look_at, cartesian_to_spherical, spherical_to_cartesian +RED = '\033[91m' +RESET = '\033[0m' + class GraspController: def __init__(self, policy): @@ -87,7 +90,9 @@ class GraspController: self.latest_seg_msg = msg def run(self): + print("before reset") bbox = self.reset() + print("after reset") self.switch_to_cartesian_velocity_control() with Timer("search_time"): grasp = self.search_grasp(bbox) @@ -97,6 +102,7 @@ class GraspController: res = self.execute_grasp(grasp) else: res = "aborted" + print(f"{RED}[{res}]No grasp found{RESET}") return self.collect_info(res) def reset(self): @@ -125,7 +131,7 @@ class GraspController: current_p = pose.as_matrix()[:3,3] target_p = self.policy.x_d.as_matrix()[:3,3] linear_d = np.linalg.norm(current_p - target_p) - if(linear_d < self.move_to_target_threshold): + if(linear_d < self.move_to_target_threshold*2): # Arrived moving_to_The_target = False # sleep 3s to wait for the arrival of the robot @@ -135,15 +141,19 @@ class GraspController: elif(self.policy.policy_type=="multi_view"): while not self.policy.done: depth_img, seg_image, pose, q = self.get_state() + #print("before get target id in search_grasp()") + #import ipdb; ipdb.set_trace() target_seg_id = self.get_target_id(TargetIDRequest()).id support_seg_id = self.get_support_id(TargetIDRequest()).id + #print("after get target id in search_grasp()") + # print(target_seg_id, support_seg_id) # import ipdb; ipdb.set_trace() self.policy.update(depth_img, seg_image, target_seg_id, pose, q) r.sleep() else: print("Unsupported policy type: "+str(self.policy.policy_type)) - + import ipdb; ipdb.set_trace() # Wait for a zero command to be sent to the robot. rospy.sleep(0.2) self.policy.deactivate() diff --git a/src/active_grasp/nbv.py b/src/active_grasp/nbv.py index 06501e5..82e5462 100644 --- a/src/active_grasp/nbv.py +++ b/src/active_grasp/nbv.py @@ -85,6 +85,7 @@ class NextBestView(MultiViewPolicy): super().activate(bbox, view_sphere) def update(self, img, seg, target_id, x, q): + #import ipdb; ipdb.set_trace() if len(self.views) > self.max_views or self.best_grasp_prediction_is_stable(): self.done = True else: @@ -100,7 +101,7 @@ class NextBestView(MultiViewPolicy): self.vis.ig_views(self.base_frame, self.intrinsic, views, utilities) i = np.argmax(utilities) nbv, gain = views[i], gains[i] - + import ipdb; ipdb.set_trace() if gain < self.min_gain and len(self.views) > self.T: self.done = True @@ -174,6 +175,7 @@ class NextBestView(MultiViewPolicy): bbox_min = self.T_task_base.apply(self.bbox.min) / voxel_size bbox_max = self.T_task_base.apply(self.bbox.max) / voxel_size mask = np.array([((i > bbox_min) & (i < bbox_max)).all() for i in indices]) + #import ipdb; ipdb.set_trace() i, j, k = indices[mask].T tsdfs = tsdf_grid[i, j, k] ig = np.logical_and(tsdfs > -1.0, tsdfs < 0.0).sum() diff --git a/src/active_grasp/simulation.py b/src/active_grasp/simulation.py index 12fe643..3347bb1 100644 --- a/src/active_grasp/simulation.py +++ b/src/active_grasp/simulation.py @@ -2,6 +2,8 @@ from pathlib import Path import pybullet as p import pybullet_data import rospkg +import pickle +import os from active_grasp.bbox import AABBox from robot_helpers.bullet import * @@ -29,6 +31,7 @@ class Simulation: self.load_robot() self.load_vgn(Path(vgn_path)) self.scene = get_scene(scene_id) + self.target_uid = None def configure_physics_engine(self, gui, rate, sub_step_count): self.rate = rate @@ -48,6 +51,16 @@ class Simulation: def load_robot(self): panda_urdf_path = urdfs_dir / "franka/panda_arm_hand.urdf" self.arm = BtPandaArm(panda_urdf_path) + print(f"Robot base uid: {self.arm.uid}") + + # 打å°æœºæ¢°è‡‚çš„æ‰€æœ‰éƒ¨ä»¶ä¿¡æ¯ + num_joints = p.getNumJoints(self.arm.uid) + print(f"Number of joints: {num_joints}") + for i in range(num_joints): + joint_info = p.getJointInfo(self.arm.uid, i) + link_name = joint_info[12].decode('utf-8') + print(f"Joint {i}: {link_name}") + self.gripper = BtPandaGripper(self.arm) self.model = KDLModel.from_urdf_file( panda_urdf_path, self.arm.base_frame, self.arm.ee_frame @@ -63,7 +76,7 @@ class Simulation: sleep_ticks = self.rate * secs for i in range(int(sleep_ticks)): p.stepSimulation() - + self.target_uid = None # Reset the scene valid = False while not valid: @@ -72,13 +85,17 @@ class Simulation: q = self.scene.generate(self.rng) self.set_arm_configuration(q) uid = self.select_target() - support_id = self.select_support() + if uid == -1: + continue + support_id = self.select_support() bbox = self.get_target_bbox(uid) + #import ipdb; ipdb.set_trace() valid = True # valid = self.check_for_grasps(bbox) return bbox def set_arm_configuration(self, q): + #import ipdb; ipdb.set_trace() for i, q_i in enumerate(q): p.resetJointState(self.arm.uid, i, q_i, 0) p.resetJointState(self.arm.uid, 9, 0.04, 0) @@ -86,15 +103,25 @@ class Simulation: self.gripper.set_desired_width(0.4) def select_target(self): + if self.target_uid is not None: + p.changeVisualShape(self.target_uid, -1, rgbaColor=[1, 0, 0, 1]) + return self.target_uid _, _, mask = self.camera.get_image() uids, counts = np.unique(mask, return_counts=True) + mask = np.isin(uids, self.scene.object_uids) # remove ids of the floor, etc uids, counts = uids[mask], counts[mask] # If no objects are detected, try again - if(len(uids) == 0 and len(counts) == 0): - return self.select_target() - target_uid = uids[np.argmin(counts)] + container_idx = np.where(np.isin(uids, self.scene.container_uid))[0] + object_uids = np.delete(uids, container_idx) + object_counts = np.delete(counts, container_idx) + target_uid = object_uids[np.argmin(object_counts)] + if(len(object_uids) == 0 and len(object_counts) == 0): + return -1 + + print("select target uid: "+str(target_uid)) p.changeVisualShape(target_uid, -1, rgbaColor=[1, 0, 0, 1]) + self.target_uid = target_uid return target_uid def select_support(self): @@ -104,6 +131,7 @@ class Simulation: def get_target_bbox(self, uid): aabb_min, aabb_max = p.getAABB(uid) # enlarge the bounding box + #import ipdb; ipdb.set_trace() aabb_min = np.asarray(aabb_min) aabb_max = np.asarray(aabb_max) aabb_min -= 0.0 @@ -150,6 +178,16 @@ class Scene: self.support_urdf = urdfs_dir / "plane/model.urdf" self.support_uid = -1 self.object_uids = [] + self.container_uid = -1 + self.container_list = [ + "chair", + "table", + "sofa", + "picnic_basket", + "cabinet", + "flower_pot", + "blender_cabinet" + ] def clear(self): self.remove_support() @@ -167,6 +205,9 @@ class Scene: def add_object(self, urdf, ori, pos, scale=1.0): uid = p.loadURDF(str(urdf), pos, ori.as_quat(), globalScaling=scale) + print('add object uid: '+str(uid)) + import ipdb; ipdb.set_trace() + self.object_uids.append(uid) return uid @@ -175,13 +216,18 @@ class Scene: self.object_uids.remove(uid) def remove_all_objects(self): + print(f"Objects to remove: {self.object_uids}") for uid in list(self.object_uids): + # 获å–ç‰©ä½“ä¿¡æ¯ + body_info = p.getBodyInfo(uid) + print(f'Removing object uid: {uid}, Name: {body_info[1].decode("utf-8")}') self.remove_object(uid) class YamlScene(Scene): def __init__(self, config_name): super().__init__() + #import ipdb; ipdb.set_trace() self.config_path = pkg_root / "cfg/sim" / config_name def load_config(self): @@ -208,93 +254,111 @@ class YamlScene(Scene): p.stepSimulation() return self.scene["q"] - -class RandomScene(Scene): - def __init__(self): +class PickleScene(Scene): + def __init__(self, config_name): super().__init__() - self.center = np.r_[0.5, 0.0, 0.2] - self.length = 0.3 - self.origin = self.center - np.r_[0.5 * self.length, 0.5 * self.length, 0.0] - self.object_urdfs = find_urdfs(urdfs_dir / "test") - - def generate(self, rng, object_count=4, attempts=10): - self.add_support(self.center) - urdfs = rng.choice(self.object_urdfs, object_count) - for urdf in urdfs: - scale = rng.uniform(0.8, 1.0) - uid = self.add_object(urdf, Rotation.identity(), np.zeros(3), scale) - lower, upper = p.getAABB(uid) - z_offset = 0.5 * (upper[2] - lower[2]) + 0.002 - state_id = p.saveState() - for _ in range(attempts): - # Try to place and check for collisions - ori = Rotation.from_euler("z", rng.uniform(0, 2 * np.pi)) - pos = np.r_[rng.uniform(0.2, 0.8, 2) * self.length, z_offset] - p.resetBasePositionAndOrientation(uid, self.origin + pos, ori.as_quat()) - p.stepSimulation() - if not p.getContactPoints(uid): - break - else: - p.restoreState(stateId=state_id) - else: - # No placement found, remove the object - self.remove_object(uid) - q = [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79] - q += rng.uniform(-0.08, 0.08, 7) - return q - - -class ManualScene(Scene): - def __init__(self): - super().__init__() - self.config_path = pkg_root / "cfg/sim" - self.scene_index = 0 - # Visit the directory and read all the yaml files - self.scenes = [] - for file in self.config_path.iterdir(): - if file.suffix == ".yaml": - self.scenes.append(file) - self.num_scenes = len(self.scenes) - - def load_config(self): - self.scene = load_yaml(self.scenes[self.scene_index]) - self.center = np.asarray(self.scene["center"]) + self.config_path = pkg_root / "cfg/sim" / config_name + self.center = np.r_[0.5, 0.0, 0.0] self.length = 0.3 self.origin = self.center - np.r_[0.5 * self.length, 0.5 * self.length, 0.0] + def load_scene(self, scene_dir, model_dir, rot_z=0): + scene_path = os.path.join(scene_dir, "scene.pickle") + self.scene = pickle.load(open(scene_path, "rb")) + self.fall_objects_dict = self.get_fall_objects_dict(scene_dir) + self._initialize_pybullet_scene(model_dir, rot_z) + + def _initialize_pybullet_scene(self, model_dir, rot_z=0): + p.setAdditionalSearchPath(pybullet_data.getDataPath()) + # 修改平é¢åŠ è½½,添加碰撞属性 + planeId = p.loadURDF("plane100.urdf", useMaximalCoordinates=True, flags=p.URDF_USE_IMPLICIT_CYLINDER) + p.changeDynamics(planeId, -1, + lateralFriction=1.0, + restitution=0.5, + contactStiffness=1000000, + contactDamping=100 + ) + + # 创建旋转矩阵 + rot_matrix = Rotation.from_euler("z", rot_z, degrees=True) + + for obj_name in self.scene.keys(): + if obj_name in self.fall_objects_dict: + continue + # 处ç†æ—‹è½¬ + origin_orientation = self.scene[obj_name]["rotation"] # quaternion + origin_orientation = Rotation.from_quat(origin_orientation) + orientation = rot_matrix * origin_orientation + orientation = orientation.as_quat() + + # 处ç†ä½ç½® + original_position = self.scene[obj_name]["position"] + # å°†ä½ç½®å‘é‡ç»•z轴旋转相åŒçš„角度 + rotated_position = rot_matrix.apply(original_position) + position = rotated_position + self.center + + class_name = obj_name[:-4] + #obj_path = os.path.join(model_dir, class_name, obj_name, "model.obj") + + urdf_path = os.path.join(model_dir, class_name, obj_name, "model.urdf") + #import ipdb; ipdb.set_trace() + uid = p.loadURDF(urdf_path, position, orientation, globalScaling=1.0) + # uid = self._load_obj_to_pybullet( + # obj_file_path=obj_path, + # position=position, + # orientation=orientation, + # scale=1.0, + # ) + + self.object_uids.append(uid) + for container in self.container_list: + if container in obj_name: + self.container_uid = uid + print('container id: '+str(self.container_uid)) + + def get_fall_objects_dict(self, scene_path): + fall_objects_path = os.path.join(scene_path, "fall_objects.pickle") + fall_objects_dict = pickle.load(open(fall_objects_path, "rb")) + return fall_objects_dict + + def _load_obj_to_pybullet(self, obj_file_path, position, orientation, scale): + visual_ind = p.createVisualShape( + shapeType=p.GEOM_MESH, + fileName=obj_file_path, + rgbaColor=[1, 1, 1, 1], + specularColor=[0.4, 0.4, 0], + visualFramePosition=[0, 0, 0], + meshScale=scale, + ) + collision_ind = p.createCollisionShape( + shapeType=p.GEOM_MESH, + fileName=obj_file_path, + meshScale=scale, + ) + uid = p.createMultiBody( + baseMass=0, + baseVisualShapeIndex=visual_ind, + baseCollisionShapeIndex=collision_ind, + basePosition=position, + baseOrientation=orientation, + useMaximalCoordinates=True, + ) + return uid + def generate(self, rng): - self.load_config() - self.add_support(self.center) - - for object in self.scene["objects"]: - urdf = urdfs_dir / object["object_id"] / "model.urdf" - ori = Rotation.from_euler("xyz", object["rpy"], degrees=True) - pos = self.center + np.asarray(object["xyz"]) - scale = object.get("scale", 1) - if randomize := object.get("randomize", False): - angle = rng.uniform(-randomize["rot"], randomize["rot"]) - ori = Rotation.from_euler("z", angle, degrees=True) * ori - b = np.asarray(randomize["pos"]) - pos += rng.uniform(-b, b) - self.add_object(urdf, ori, pos, scale) - for _ in range(60): - p.stepSimulation() - - self.scene_index += 1 - if(self.scene_index >= self.num_scenes): - self.scene_index = 0 - - return self.scene["q"] - + model_dir = "/media/hofee/data/data/nbv/nbv_objects_urdf" + self.load_scene(self.config_path, model_dir, rot_z=90) + self.add_support(self.center - np.array([0.0, 0.0, 0.05])) + # for _ in range(60): + # p.stepSimulation() + + q = np.asarray([0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]) + q += np.asarray(rng.uniform(-0.08, 0.08, 7)) + return q.tolist() def get_scene(scene_id): if scene_id.endswith(".yaml"): return YamlScene(scene_id) - elif scene_id == "random": - return RandomScene() - elif scene_id == "manual": - return ManualScene() - else: - raise ValueError("Unknown scene {}.".format(scene_id)) + return PickleScene(scene_id)