Add test scenes

cfg/active_grasp.yaml

@@ -13,7 +13,7 @@ grasp_controller:
     frame_id: camera_optical_frame
     info_topic: /camera/depth/camera_info
     depth_topic: /camera/depth/image_raw
-    min_z_dist: 0.22
+    min_z_dist: 0.26
     
 vgn:
   model: $(find vgn)/assets/models/vgn_conv.pth

cfg/scenes/test.yaml

@@ -1,9 +0,0 @@
-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]

cfg/scenes/test1.yaml

@@ -0,0 +1,6 @@
+center: [0.5, 0.0, 0.20]
+q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
+objects:
+- object_id: 006_mustard_bottle
+  xyz: [0.05, 0.1, 0.0]
+  rpy: [0, 0, -50]

cfg/scenes/test2.yaml

@@ -0,0 +1,6 @@
+center: [0.5, 0.0, 0.40]
+q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
+objects:
+- object_id: 006_mustard_bottle
+  xyz: [0.05, 0.1, 0.0]
+  rpy: [0, 0, -50]

cfg/scenes/test3.yaml

@@ -0,0 +1,7 @@
+center: [0.45, 0.0, 0.20]
+q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
+objects:
+- object_id: 019_pitcher_base
+  xyz: [0, 0.1, 0]
+  rpy: [0, 0, 60]
+  scale: 1.0

cfg/scenes/test4.yaml

@@ -0,0 +1,12 @@
+center: [0.5, 0.05, 0.2]
+q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
+objects:
+- object_id: 004_sugar_box
+  xyz: [-0.04, -0.03, 0.0]
+  rpy: [0, 0, 30]
+- object_id: 008_pudding_box
+  xyz: [-0.02, -0.06, 0.19]
+  rpy: [0, 0, 45]
+- object_id: 010_potted_meat_can
+  xyz: [0.04, 0.03, 0.0]
+  rpy: [0, 0, 60]