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: [-3.795139491558075e-08, 9.220093488693237e-08, -0.06014379858970642]
  rpy: [90.00001448901929, 3.95358574879398e-06, -1.1877269922954974e-05]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_127
  xyz: [-0.39818906784057617, -0.1258876621723175, 0.07055702805519104]
  rpy: [8.320622762397083, -4.328440881955065, -88.0042556793287]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_049
  xyz: [-0.0341462567448616, -0.1343383640050888, 0.07194019854068756]
  rpy: [5.5552109897102495, 1.414706184300774, -90.45364138765419]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_049
  xyz: [-0.5757976770401001, 0.07361306995153427, 0.6884810328483582]
  rpy: [-0.921044066271411, 0.19222006147748896, -98.6622791716551]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_067
  xyz: [0.09811839461326599, -0.0891139805316925, 0.7140707969665527]
  rpy: [111.69140468168393, 68.55091629554553, -147.06238545653594]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_037
  xyz: [-0.4652298390865326, -0.06840834766626358, 0.097776398062706]
  rpy: [5.578211133668824, -6.814641146220621, -89.45289385083385]
  scale: 1.0

- object_id: active_perception/omni_objects/bowl/bowl_015
  xyz: [-0.05334540456533432, 0.1693553924560547, 0.09068889170885086]
  rpy: [-0.00321150814266677, -2.7262242124140705, -90.0291689423282]
  scale: 1.0