Bin on the robot's right as in most community pick-and-place data

sim.py

@@ -28,15 +28,15 @@ COLORS = {
 SCENES = {
     "Cubes and tray": {
         "objects": [
-            ("red", "cube", (0.22, 0.02), 0.0),
-            ("blue", "cube", (0.27, -0.08), 0.4),
-            ("yellow", "cube", (0.17, -0.12), 0.9),
+            ("red", "cube", (0.20, 0.0), 0.0),
+            ("blue", "cube", (0.25, 0.09), 0.4),
+            ("yellow", "cube", (0.16, 0.11), 0.9),
         ],
-        "tray": (0.25, 0.15),
+        "tray": (0.24, -0.16),
     },
     "Single cube": {
-        "objects": [("red", "cube", (0.22, -0.04), 0.3)],
-        "tray": (0.25, 0.15),
+        "objects": [("red", "cube", (0.20, -0.01), 0.3)],
+        "tray": (0.24, -0.16),
     },
     "Blocks without tray": {
         "objects": [
@@ -106,9 +106,9 @@ def scene_xml(scene):
     <geom name="board" type="box" pos="0.22 0 -0.004" size="0.26 0.32 0.004" material="cork" friction="1 0.01 0.001"/>
     <geom name="wall" type="box" pos="-0.35 0 0.4" size="0.01 1.2 0.5" material="wall" contype="0" conaffinity="0"/>
     <geom name="wall2" type="box" pos="0.3 0.75 0.4" size="1.0 0.01 0.5" material="wall" contype="0" conaffinity="0"/>
-    <camera name="scene" pos="0.30 -0.37 0.35" mode="targetbody" target="scene_target" fovy="58"/>
-    <camera name="overview" pos="0.40 -0.52 0.46" mode="targetbody" target="scene_target" fovy="50"/>
-    <body name="scene_target" pos="0.17 0.04 0.02"/>
+    <camera name="scene" pos="0.30 0.37 0.35" mode="targetbody" target="scene_target" fovy="58"/>
+    <camera name="overview" pos="0.40 0.52 0.46" mode="targetbody" target="scene_target" fovy="50"/>
+    <body name="scene_target" pos="0.17 -0.04 0.02"/>
     {objects}
     {tray}
   </worldbody>