function trace = WP_run_SIM(del_t,max_t)
%

Tr = eye(4);
Tr(1:3,1:3) = CS5320_gen_R([0;0;1],pi/4);
Tr(1:2,4) = [3;7];

Tc_t = eye(4);
Tc_t(3,4) = 0.82;
Tc_x = eye(4);
Tc_x(1:3,1:3) = CS5320_gen_R([1;0;0],-(90+34.69)*pi/180);
Tc_z = eye(4);
Tc_z(1:3,1:3) = CS5320_gen_R([0;0;1],pi);
Tc = Tc_t*Tc_x*Tc_z;

%w = WP_init_world;

%[rgbd,rgb_im,map] = WP_rgbd(Tr,Tc,w);

trace = WP_sim(Tr,0.00001*eye(3,3),Tc,del_t,max_t);
