switch scene pipeline passed

cfg/active_grasp.rviz

@@ -256,10 +256,7 @@ Visualization Manager:
       Name: Markers
       Namespaces:
         bbox: true
-        grasp: true
-        grasps: true
         path: true
-        roi: true
         views: true
       Queue Size: 100
       Value: true
@@ -427,7 +424,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.261960744857788
+      Distance: 1.094533920288086
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -435,17 +432,17 @@ Visualization Manager:
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: 0.5695413947105408
-        Y: -0.03970015048980713
-        Z: 0.45675671100616455
+        X: 0.32280832529067993
+        Y: 0.16504701972007751
+        Z: 0.43913549184799194
       Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.295397013425827
+      Pitch: 0.2053970992565155
       Target Frame: <Fixed Frame>
-      Yaw: 5.118584632873535
+      Yaw: 0.8653952479362488
     Saved:
       - Class: rviz/Orbit
         Distance: 1.2000000476837158
@@ -486,4 +483,4 @@ Window Geometry:
     collapsed: true
   Width: 1095
   X: 1260
-  Y: 86
+  Y: 27

cfg/active_grasp.yaml

@@ -2,7 +2,8 @@ bt_sim:
   gui: True
   gripper_force: 10
   # scene: random
-  scene: $(find active_grasp)/cfg/sim/challenging_scene_2.yaml
+  scene: manual
+  # scene: $(find active_grasp)/cfg/sim/challenging_scene_2.yaml
 
 hw:
   roi_calib_file: $(find active_grasp)/cfg/hw/T_base_tag.txt
@@ -13,7 +14,7 @@ grasp_controller:
   ee_grasp_offset: [0.0, 0.0, -0.383, 0.924, 0.0, 0.0, 0.065]  # offset to panda_link8
   control_rate: 100
   linear_vel: 0.05
-  move_to_target_threshold: 0.05 # meter
+  move_to_target_threshold: 0.01 # meter
   camera:
     frame_id: camera_depth_optical_frame
     info_topic: /camera/depth/camera_info

cfg/sim/mustard.yaml

@@ -1,7 +0,0 @@
-center: [0.5, 0.2, 0.25]
-q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
-objects:
-- object_id: ycb/006_mustard_bottle
-  xyz: [0.0, 0.0, 0.0]
-  rpy: [0, 0, -50]
-  scale: 0.8