From b382148b745f483b730b1f22b00a5e6e2a69689d Mon Sep 17 00:00:00 2001
From: Bill Finger <ur.narmak@gmail.com>
Date: Fri, 6 Dec 2024 12:51:20 +0300
Subject: [PATCH] Update default scene configuration with new objects and
 adjustments

- Replaced object names and updated configurations:
  - Renamed `hole` to `star` and adjusted its position.
  - Renamed `peg` to `box`, added mass and size attributes, and refined position and randomization settings.
  - Added a new `cylinder` object with mass, radius, length, and position attributes.
  - Introduced a static `board` object with specified position and randomization settings.
- Improved structure and flexibility for object definitions in the default scene.
---
 .../config/default-scene-config.yaml          | 80 +++++++++++++++++--
 1 file changed, 74 insertions(+), 6 deletions(-)

diff --git a/env_manager/rbs_runtime/config/default-scene-config.yaml b/env_manager/rbs_runtime/config/default-scene-config.yaml
index 474f3b1..7016a9a 100644
--- a/env_manager/rbs_runtime/config/default-scene-config.yaml
+++ b/env_manager/rbs_runtime/config/default-scene-config.yaml
@@ -67,15 +67,15 @@ light:
   visual: true
 objects:
   - color: null
-    name: hole
+    name: star
     orientation: !tuple
       - 1.0
       - 0.0
       - 0.0
       - 0.0
     position: !tuple
-      - 0.1
-      - 0.3
+      - -0.1
+      - -0.40
       - 0.1
     randomize:
       count: 0
@@ -95,16 +95,22 @@ objects:
     static: false
     texture: []
     type: "model"
+
   - color: null
-    name: peg
+    name: box
+    mass: 1.0
+    size: !tuple
+      - 0.02
+      - 0.02
+      - 0.05
     orientation: !tuple
       - 1.0
       - 0.0
       - 0.0
       - 0.0
     position: !tuple
-      - 0.0
-      - 0.3
+      - -0.1
+      - -0.37
       - 0.1
     randomize:
       count: 0
@@ -122,6 +128,68 @@ objects:
         - 0.5
     relative_to: world
     static: false
+    type: "box"
+
+
+  - color: null
+    name: cylinder
+    mass: 1.0
+    radius: 0.01
+    length: 0.05
+    orientation: !tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+    position: !tuple
+      - -0.1
+      - -0.34
+      - 0.1
+    randomize:
+      count: 0
+      models_rollouts_num: 0
+      random_color: false
+      random_model: false
+      random_orientation: false
+      random_pose: false
+      random_position: false
+      random_spawn_position_segments: []
+      random_spawn_position_update_workspace_centre: false
+      random_spawn_volume: !tuple
+        - 0.5
+        - 0.5
+        - 0.5
+    relative_to: world
+    static: false
+    type: "cylinder"
+
+  - color: null
+    name: board
+    orientation: !tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+    position: !tuple
+      - 0.0
+      - -0.37
+      - 0.01
+    randomize:
+      count: 0
+      models_rollouts_num: 0
+      random_color: false
+      random_model: false
+      random_orientation: false
+      random_pose: false
+      random_position: false
+      random_spawn_position_segments: []
+      random_spawn_position_update_workspace_centre: false
+      random_spawn_volume: !tuple
+        - 0.5
+        - 0.5
+        - 0.5
+    relative_to: world
+    static: true
     texture: []
     type: "model"
 physics_rollouts_num: 0