nbv_sim/cfg/sim/scene_150.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/picnic/picnic_basket_010
  xyz: [-0.007211644202470779, -0.005261936690658331, 0.13037478923797607]
  rpy: [85.94707145780974, -2.186998441364966, -2.094515046040527]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_039
  xyz: [-0.009892363101243973, -7.200572872534394e-05, -484.1174011230469]
  rpy: [2.8609449182373243, -3.0543739399344423, -89.94466463735814]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_028
  xyz: [0.054453663527965546, 0.009181700646877289, 0.08868227899074554]
  rpy: [-82.08896306020847, -32.82035761404179, -37.811730630018076]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_103
  xyz: [-0.01686488837003708, -0.001681653200648725, -465.76171875]
  rpy: [-2.0236007456513385, -1.2484473911692096, -89.79708820678216]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_037
  xyz: [0.04739036038517952, -0.027720557525753975, 0.09958778321743011]
  rpy: [172.8826429274353, -39.168938511899796, 116.53659852451194]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_064
  xyz: [-0.05128205195069313, -0.02277335152029991, 0.10916578769683838]
  rpy: [-61.95476989487058, 38.76533430235226, -48.52853229284337]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_113
  xyz: [-0.04088623821735382, 0.02668575756251812, -437.513671875]
  rpy: [-2.8298860600578126e-07, 1.3206136303973125e-07, -90.0]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_130
  xyz: [0.029611026868224144, 0.02378569170832634, -428.2917175292969]
  rpy: [7.074673166822737e-09, 3.065708668581487e-08, -90.0]
  scale: 1.0