nbv_sim/cfg/sim/scene_62.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/sofa/sofa_013
  xyz: [-0.0037507142405956984, -0.004156182985752821, 0.32276782393455505]
  rpy: [89.41333524924696, 0.015960000548941984, -0.5147089768749635]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_037
  xyz: [-0.09623250365257263, -0.07341901957988739, 0.3441675007343292]
  rpy: [-99.3630345797376, 43.82790972386658, -89.27061275984843]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_045
  xyz: [0.2838536202907562, 0.31409719586372375, 0.3719744384288788]
  rpy: [12.526598190205025, -30.852851045662856, -132.64656319854893]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_043
  xyz: [-0.013405686244368553, 0.040272872895002365, 0.3548545241355896]
  rpy: [-12.077049994335637, 6.017446921775798, -88.89807890573057]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_038
  xyz: [-0.011458730325102806, -0.27077150344848633, 0.3677452504634857]
  rpy: [12.07787883577717, 4.986541505307325, -89.87974808225798]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_031
  xyz: [0.09394173324108124, 0.2672605514526367, 0.35126253962516785]
  rpy: [-0.5671791741962886, 1.5504958519949563, -89.97202395629044]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_045
  xyz: [0.17284396290779114, 0.390241414308548, 0.3793126344680786]
  rpy: [-48.12290234581831, -66.79913171545938, -161.7838869456508]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_038
  xyz: [0.3283398747444153, 0.32785892486572266, 0.35967588424682617]
  rpy: [92.36623334476306, -52.44454982901727, -85.41545887003868]
  scale: 1.0