nbv_sim/cfg/sim/scene_37.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/blender/blender_cabinet_005
  xyz: [-1.208973117172718e-07, 0.0, 0.010999977588653564]
  rpy: [89.9998647691643, -3.1310930257678665e-05, 5.198110587880079e-06]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_042
  xyz: [0.1077878400683403, 0.12241704761981964, 0.11737146973609924]
  rpy: [-4.94949626531639, -24.01458902593339, 40.32442145787409]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_038
  xyz: [0.12384489923715591, 0.0854213684797287, 0.44839659333229065]
  rpy: [-7.209963748930952, 2.030218975794047, -89.36331038806878]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_065
  xyz: [-0.028945425525307655, 0.08007828146219254, 0.13590463995933533]
  rpy: [-24.4541093844386, -81.25664857169846, 175.6918007713984]
  scale: 1.0

- object_id: active_perception/omni_objects/soap/soap_037
  xyz: [-0.04376954957842827, 0.1326463371515274, 0.11002542078495026]
  rpy: [-78.98259279504832, 69.45053680560366, -3.114966823016006]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_067
  xyz: [0.05380183458328247, 0.16606707870960236, 0.10901172459125519]
  rpy: [0.0634402538137194, 1.3054619951332833, -89.94507165079108]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_047
  xyz: [-0.0789538100361824, 0.20966367423534393, 0.44687551259994507]
  rpy: [107.53092806210813, 6.839171790074246, -107.85746287970163]
  scale: 1.0