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Update scene 2

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This commit is contained in:
Michel Breyer 2021-11-04 19:18:49 +01:00
parent 7db03ff39e
commit 772bf603f7
3 changed files with 13 additions and 9 deletions
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8
cfg/scenes/mustard2.yaml
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@ -1,8 +0,0 @@
center: [0.5, 0.1, 0.40]
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
objects:
- object_id: 006_mustard_bottle
xyz: [0.0, 0.1, 0.0]
rpy: [0, 0, 0]
randomize: True

2
cfg/scenes/scene1.yaml
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@ -3,5 +3,5 @@ objects:
- object_id: ycb/006_mustard_bottle - object_id: ycb/006_mustard_bottle
xyz: [0.0, 0.0, 0.0] xyz: [0.0, 0.0, 0.0]
rpy: [0, 0, -50] rpy: [0, 0, -50]
randomize: {rot: 5, pos: [0.02, 0.02, 0]} randomize: {rot: 15, pos: [0.02, 0.02, 0]}
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79] q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]

12
cfg/scenes/scene2.yaml Normal file
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@ -0,0 +1,12 @@
center: [0.45, 0.0, 0.20]
objects:
- object_id: box
scale: 1.5
xyz: [-0.1, -0.15, 0.3]
rpy: [0, 90, 0]
- object_id: ycb/010_potted_meat_can
scale: 0.8
xyz: [0.0, 0.0, 0.305]
rpy: [0, 0, 0]
randomize: {rot: 30, pos: [0, 0.05, 0]}
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.83, 0.79]