removed plane in scene_points

cfg/active_grasp.rviz

@@ -424,7 +424,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.094533920288086
+      Distance: 2.0648767948150635
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -432,17 +432,17 @@ Visualization Manager:
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: 0.32280832529067993
-        Y: 0.16504701972007751
-        Z: 0.43913549184799194
+        X: -0.054327137768268585
+        Y: -0.14501728117465973
+        Z: 0.2944410443305969
       Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.2053970992565155
+      Pitch: 0.3053985834121704
       Target Frame: <Fixed Frame>
-      Yaw: 0.8653952479362488
+      Yaw: 0.7053982615470886
     Saved:
       - Class: rviz/Orbit
         Distance: 1.2000000476837158
@@ -482,5 +482,5 @@ Window Geometry:
   Views:
     collapsed: true
   Width: 1095
-  X: 1260
-  Y: 27
+  X: 1273
+  Y: 127

cfg/active_grasp.yaml

@@ -3,7 +3,7 @@ bt_sim:
   gripper_force: 10
   # scene: random
   # scene: manual
-  scene: $(find active_grasp)/cfg/sim/challenging_scene_3.yaml
+  scene: $(find active_grasp)/cfg/sim/challenging_scene_6.yaml
 
 hw:
   roi_calib_file: $(find active_grasp)/cfg/hw/T_base_tag.txt

cfg/sim/challenging_scene_4.yaml

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

cfg/sim/challenging_scene_5.yaml

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

cfg/sim/challenging_scene_6.yaml

@@ -0,0 +1,11 @@
+center: [0.5, 0.0, 0.25]
+q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
+objects:
+- object_id: ycb/006_mustard_bottle
+  xyz: [0.0, 0.05, 0.05]
+  rpy: [0, 0, -45]
+  scale: 0.5
+- object_id: active_perception/cabinet2
+  xyz: [0.1, 0.0, 0.0]
+  rpy: [0, 0, 45]
+  scale: 0.25