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_003
  xyz: [-9.21142054721713e-06, 4.3042004108428955e-05, 0.06524354219436646]
  rpy: [90.00001448901894, 2.1642662376748527e-05, -3.619186758694772e-07]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_113
  xyz: [0.24367879331111908, 0.1255834996700287, -520.6961669921875]
  rpy: [-7.026738231384104, -5.381684626393414, -90.33248682789984]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_054
  xyz: [-0.4215719401836395, 0.021023331210017204, 1.2659329175949097]
  rpy: [1.9008785238246286, -1.1885098770502276, -89.99767711344113]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_040
  xyz: [-0.09116429090499878, -0.08710652589797974, 1.282806634902954]
  rpy: [85.86143135119902, -42.303162688691714, -34.33436513584387]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_037
  xyz: [-0.40645164251327515, -0.1833648532629013, 0.07233317196369171]
  rpy: [95.699952898474, 23.781161036753122, 81.27154929184192]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_053
  xyz: [0.11290330439805984, 0.17519353330135345, 1.2852015495300293]
  rpy: [15.2501985755839, -14.405572882976651, -124.68434858571646]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_054
  xyz: [0.48242756724357605, -0.2080523669719696, 0.33269134163856506]
  rpy: [-90.22141691828142, 19.450987200016023, 0.16422709309886782]
  scale: 1.0