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_009
  xyz: [6.891787052154541e-06, 1.5517696738243103e-05, 0.00045686960220336914]
  rpy: [1.6788918836552825e-06, 0.03731580337578944, 89.91734496749237]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_041
  xyz: [-0.10910510271787643, 0.10729944705963135, 0.11240816116333008]
  rpy: [-162.49678286996888, -78.53272679518203, 82.94292238710514]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_028
  xyz: [-0.06307639926671982, -0.12995965778827667, 0.11220840364694595]
  rpy: [31.146830687038555, 83.65894825513347, 138.8156537860419]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_044
  xyz: [0.1494470089673996, 0.01827867701649666, 1.2300584316253662]
  rpy: [-52.347364605171144, 16.720347259772097, 88.47557167932372]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_049
  xyz: [-0.26583346724510193, -0.028006605803966522, 1.2484166622161865]
  rpy: [-87.3751457551071, -11.416569488122002, -20.821281059150966]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_043
  xyz: [0.17818380892276764, -0.08549604564905167, 0.12484631687402725]
  rpy: [41.74112747158215, 79.86501440737737, -86.57564221435689]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_030
  xyz: [-0.11728330701589584, -0.06884848326444626, 1.232861042022705]
  rpy: [-90.47429762628788, 15.267412822311384, -1.5126557778150067]
  scale: 1.0

- object_id: active_perception/omni_objects/corn/corn_031
  xyz: [0.07551814615726471, -0.02466253750026226, 1.2308120727539062]
  rpy: [-91.22501206978806, -23.851453919668923, -3.531668249716107]
  scale: 1.0