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: [1.501757651567459e-08, 1.6391277313232422e-06, -0.005999892950057983]
  rpy: [89.99998551098187, -3.364498919077934e-05, -1.631905356402501e-06]
  scale: 1.0

- object_id: active_perception/omni_objects/waffle/waffle_042
  xyz: [-0.17304196953773499, 0.20670060813426971, 0.7649368643760681]
  rpy: [90.6419283854904, -8.86102029416932, -84.75547982347847]
  scale: 1.0

- object_id: active_perception/omni_objects/ginger/ginger_036
  xyz: [0.006988895125687122, 0.06339641660451889, 0.11286270618438721]
  rpy: [-150.38916748842914, -20.505710235965534, -113.45576872251839]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_055
  xyz: [-0.11302602291107178, 0.06772360950708389, 0.7898411750793457]
  rpy: [-67.46555230910862, 5.567558837432183, -87.76650885580139]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_040
  xyz: [0.06316816806793213, 0.13611455261707306, 0.769662618637085]
  rpy: [-9.054152174562482, -15.031896652067292, -90.01577342699568]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_031
  xyz: [-0.10923565924167633, 0.21810375154018402, 0.7756190299987793]
  rpy: [174.82831118347283, 39.256439702879526, -162.4983121923942]
  scale: 1.0