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_007
  xyz: [-1.6926787793636322e-07, 9.406358003616333e-08, 0.016625791788101196]
  rpy: [89.99999999999994, -1.2336979154393727e-05, -4.1637654023649474e-07]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_058
  xyz: [0.2791193723678589, 0.036731090396642685, 0.19567175209522247]
  rpy: [-69.9350652710847, -2.2755268233602965, 94.53023971897312]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_039
  xyz: [-0.26399004459381104, -0.11445283144712448, 0.12957213819026947]
  rpy: [0.5256202678986822, 1.2119863167827287, -90.73396130786865]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_051
  xyz: [-0.4248788058757782, 0.1873403787612915, 0.16872410476207733]
  rpy: [-18.299643731221042, 3.644769994336128, -90.08734769250096]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_045
  xyz: [0.2677001655101776, -0.07379375398159027, 0.12485168129205704]
  rpy: [1.2812118443166118, -2.800091520240385, 175.52324427766453]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_110
  xyz: [0.5749123692512512, -0.031534310430288315, 0.14444026350975037]
  rpy: [-5.416519285136875, 4.417400825995271, -71.91600213088554]
  scale: 1.0