sim on omni_test

cfg/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