nbv_sim/cfg/sim/scene_114.yaml

center: [0.45, 0.0, 0.0]
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
objects:

- object_id: active_perception/omni_objects/table/table_026
  xyz: [-1.6461126506328583e-07, -3.287568688392639e-07, 0.37786465883255005]
  rpy: [89.99999034067385, -7.123296540259878e-05, 3.2444644062773827e-05]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_037
  xyz: [0.08833184838294983, -0.12341704219579697, -0.015832407400012016]
  rpy: [77.22168165300297, 20.376476816696687, -71.66470825105438]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_040
  xyz: [-0.12920379638671875, -0.10376386344432831, 0.7114728093147278]
  rpy: [84.9690236809716, -52.51391496608498, -35.54819108135322]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_059
  xyz: [-0.01934082992374897, -0.17179088294506073, 0.7303414344787598]
  rpy: [-127.71460522274072, -4.0505867471790395, -91.30734447905392]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_114
  xyz: [0.1461324244737625, -0.06076895445585251, 0.6934365630149841]
  rpy: [-1.425206162786807, -0.021303093726072177, -6.253530208529512]
  scale: 1.0

- object_id: active_perception/omni_objects/knife/knife_031
  xyz: [0.19856275618076324, 0.06149379536509514, 0.6950825452804565]
  rpy: [-95.90315891217098, 10.463312254438016, -89.5186659579546]
  scale: 1.0

- object_id: active_perception/omni_objects/bowl/bowl_017
  xyz: [0.03719205781817436, -0.012607350945472717, 0.7331768274307251]
  rpy: [85.10251708497546, -61.87820390306091, 0.20810053974433365]
  scale: 1.0