Define custom scenes via yaml files

cfg/active_grasp.yaml

@@ -1,8 +1,8 @@
 bt_sim:
-  gui: False
+  gui: true
   cam_noise: True
   calib_error: True
-  scene: random
+  scene: test.yaml
 
 grasp_controller:
   base_frame_id: panda_link0

cfg/test.yaml

@@ -0,0 +1,9 @@
+center: [0.55, 0.0, 0.3]
+objects:
+- object_id: 003_cracker_box
+  rpy: [0.0, 0.0, 0.0]
+  xyz: [-0.08, 0.08, 0.002]
+- object_id: 010_potted_meat_can
+  rpy: [0.0, 0.0, 0.0]
+  xyz: [0.0, 0.0, 0.002]
+configuration: [0.0, -1.04, 0.17, -1.91, 0.0, 1.57, 0.79]