add pointcloud memory feature for gsnet input

cfg/sim/challenging_scene_1.yaml

@@ -2,10 +2,10 @@ center: [0.5, 0.0, 0.25]
 q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
 objects:
 - object_id: ycb/006_mustard_bottle
-  xyz: [0.0, 0.0, 0.03]
+  xyz: [0.1, 0.0, 0.03]
   rpy: [0, 0, 0]
   scale: 0.8
 - object_id: active_perception/box
-  xyz: [0.0, 0.0, 0.0]
+  xyz: [0.1, 0.0, 0.0]
   rpy: [0, 0, 0]
-  scale: 0.8
+  scale: 0.9

cfg/sim/challenging_scene_6.yaml

@@ -6,6 +6,6 @@ objects:
   rpy: [0, 0, -45]
   scale: 0.5
 - object_id: active_perception/cabinet2
-  xyz: [0.1, 0.0, 0.0]
-  rpy: [0, 0, 45]
+  xyz: [0.0, 0.0, 0.0]
+  rpy: [0, 0, 135]
   scale: 0.25