From 90a392b15cdc77439a54c223d0c8a6adb2cec837 Mon Sep 17 00:00:00 2001
From: Michel Breyer <michel.p.breyer@gmail.com>
Date: Mon, 8 Nov 2021 15:09:36 +0100
Subject: [PATCH] Udate scene 2

---
 cfg/scenes/bowl.yaml   | 13 -------------
 cfg/scenes/scene2.yaml | 11 +++++++++++
 2 files changed, 11 insertions(+), 13 deletions(-)
 delete mode 100644 cfg/scenes/bowl.yaml
 create mode 100644 cfg/scenes/scene2.yaml

diff --git a/cfg/scenes/bowl.yaml b/cfg/scenes/bowl.yaml
deleted file mode 100644
index 882272a..0000000
--- a/cfg/scenes/bowl.yaml
+++ /dev/null
@@ -1,13 +0,0 @@
-center: [0.5, 0.05, 0.35]
-q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
-objects:
-- object_id: ycb/004_sugar_box
-  xyz: [-0.12, -0.05, 0.0]
-  rpy: [0, 0, 30]
-- object_id: ycb/010_potted_meat_can
-  xyz: [-0.1, 0.1, 0.0]
-  rpy: [0, 0, 75]
-- object_id: ycb/024_bowl
-  xyz: [0.0, 0.0, 0.0]
-  rpy: [0, 0, 0]
-  scale: 0.8
diff --git a/cfg/scenes/scene2.yaml b/cfg/scenes/scene2.yaml
new file mode 100644
index 0000000..30a5268
--- /dev/null
+++ b/cfg/scenes/scene2.yaml
@@ -0,0 +1,11 @@
+center: [0.5, 0.05, 0.30]
+q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
+objects:
+- object_id: ycb/004_sugar_box
+  xyz: [-0.1, 0.0, 0.0]
+  rpy: [0, 0, 15]
+  randomize: {rot: 5, pos: [0, 0.01, 0]}
+- object_id: ycb/025_mug
+  xyz: [0.0, 0.02, 0.0]
+  rpy: [0, 0, 0]
+  randomize: {rot: 30, pos: [0.01, 0.01, 0]}