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: [1.019798219203949e-07, 4.2654573917388916e-07, 2.9802322387695312e-08]
  rpy: [90.00054092342687, 4.914365147260071e-05, -0.00018279084706606302]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_045
  xyz: [-0.18834681808948517, -0.16000153124332428, 0.146682009100914]
  rpy: [-82.56976991710053, -43.06451786269224, 80.35807385517316]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_061
  xyz: [-0.5935471057891846, -0.017665736377239227, 0.13730134069919586]
  rpy: [-5.258560052280873, 30.35901055547568, -89.59940301884052]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_103
  xyz: [0.215946763753891, -0.16886112093925476, 0.7584405541419983]
  rpy: [26.76445850915295, -0.944351281246752, -96.88814077909417]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_042
  xyz: [-0.1446520835161209, 0.1492021083831787, 0.12998931109905243]
  rpy: [93.0137240421919, 65.38300210176912, -89.05672745984106]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_040
  xyz: [0.6812019348144531, -0.25429221987724304, 0.06955869495868683]
  rpy: [54.79574585636531, -75.51177001225838, 109.5050013720017]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_028
  xyz: [-0.4131260812282562, -0.09774454683065414, 0.13010743260383606]
  rpy: [-87.07094260420553, 57.341122007278, 117.86273738983097]
  scale: 1.0