nbv_sim/cfg/sim/scene_198.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_028
  xyz: [1.3163577318191528, 1.6497305631637573, 0.3625776171684265]
  rpy: [78.76054772227296, -20.116174125678224, 119.98148196436435]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_038
  xyz: [-0.1395861655473709, -0.2262658327817917, 0.07207141816616058]
  rpy: [-94.41958219618574, -46.61420528318734, 89.99369830807615]
  scale: 1.0

- object_id: active_perception/omni_objects/garlic/garlic_032
  xyz: [-0.12044960260391235, 0.3066619336605072, 0.07009635865688324]
  rpy: [-178.1720603450487, -1.4804732815070498, -110.55748076355434]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_042
  xyz: [0.0822782963514328, -0.057888470590114594, 0.07187096774578094]
  rpy: [-96.14772745599714, -13.630127819929273, -98.77306225231209]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_045
  xyz: [0.12258399277925491, 0.07610821723937988, 0.07134044170379639]
  rpy: [-90.00002134545144, 48.38344477460717, -89.9999941545649]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_120
  xyz: [0.08395368605852127, 0.14826186001300812, 0.06865666061639786]
  rpy: [-3.017039422790739, 1.12560688208525, -89.97954616984451]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_114
  xyz: [-0.06727704405784607, -0.03253624960780144, 0.09676691889762878]
  rpy: [-6.9252039379941905, 17.850414068802436, -89.13105354026945]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_104
  xyz: [0.1344314068555832, 0.25272074341773987, -444.7189025878906]
  rpy: [-4.999465813805719e-07, 1.9809204455959684e-07, -90.0]
  scale: 1.0