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_001
  xyz: [0.005622704513370991, -0.013195041567087173, 0.06487274169921875]
  rpy: [0.7876539285367171, 4.768998877699067e-07, 89.9999855139172]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_126
  xyz: [-0.45422691106796265, 0.1856711208820343, 0.06929393112659454]
  rpy: [-89.95678896907458, -2.264396254264612, -1.2685186492792515]
  scale: 1.0

- object_id: active_perception/omni_objects/corn/corn_030
  xyz: [-0.592729389667511, -0.16370443999767303, 0.21343792974948883]
  rpy: [-91.2009383209829, 3.7583337113498265, 0.03667208865847499]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_042
  xyz: [-0.3937448263168335, 0.186106875538826, 0.21239155530929565]
  rpy: [-43.96782861951635, 31.497119860957536, 86.41208400631687]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_065
  xyz: [-0.55046546459198, 0.1254674345254898, 0.22112341225147247]
  rpy: [13.581127236364882, 64.80537853040823, 48.349173384719926]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_058
  xyz: [-0.42053425312042236, -0.02265826426446438, 0.24784474074840546]
  rpy: [-113.62601461124285, 11.157400763193007, 5.2623713475047635]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_047
  xyz: [-0.4218096137046814, -0.02377079799771309, 0.07559432834386826]
  rpy: [-93.1675133751715, 16.80003381826128, -12.372897262029579]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_128
  xyz: [0.05780746787786484, -0.1336626559495926, 0.07617145031690598]
  rpy: [-90.2152939058625, -3.807434037476856, 3.4832431417886345]
  scale: 1.0