Udate scene 2

cfg/scenes/bowl.yaml

@@ -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

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]}