nbv_sim/cfg/sim/scene_17.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_027
  xyz: [0.0027457959949970245, -0.008983150124549866, 0.517039954662323]
  rpy: [89.13936486237009, -0.029104448191722615, 0.38616701935338027]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_118
  xyz: [-0.13904884457588196, -0.21184071898460388, 0.8136613965034485]
  rpy: [5.08172758538493, 68.96865052251016, -92.77417530222229]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_110
  xyz: [0.12660780549049377, -0.29683828353881836, 0.841555655002594]
  rpy: [4.709181126348074, 0.5637760450748823, 110.92526119774692]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_037
  xyz: [-0.17847870290279388, -0.36430564522743225, 0.8489252924919128]
  rpy: [-97.26462166885891, 38.99909878304652, -92.68663838503217]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_103
  xyz: [0.09066332131624222, 0.1816982477903366, 0.8486913442611694]
  rpy: [-0.920858092505519, 0.6113335377878961, -89.40459577879618]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_056
  xyz: [0.11598082631826401, 0.4787699580192566, 0.8791625499725342]
  rpy: [-17.621143023260505, 1.3918172697232494, -90.80371651663931]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_056
  xyz: [-0.14921723306179047, -0.07653973996639252, 0.8712112307548523]
  rpy: [8.816579475889345, 1.509489962220813, -74.11370573334857]
  scale: 1.0