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: [4.63961623609066e-06, 1.126900315284729e-05, -0.0165444016456604]
  rpy: [-3.325805754301636e-06, 0.03720076526507615, 89.91797764942648]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_028
  xyz: [0.3201757073402405, -0.11267474293708801, 0.09460552036762238]
  rpy: [46.35488130016874, -4.658732843342981, -91.78265959956357]
  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_029
  xyz: [0.16963668167591095, 0.10650677978992462, 0.12315107136964798]
  rpy: [25.833195869795023, 47.49089017156414, 13.018900810186793]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_109
  xyz: [0.32047492265701294, 0.12458456307649612, 0.09277015179395676]
  rpy: [71.03648745798134, 1.285276359049046, -177.99027065600825]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_030
  xyz: [0.018951034173369408, 0.12269338220357895, 1.1947097778320312]
  rpy: [-89.99982876909563, 0.029254485265217307, -0.029248662609360168]
  scale: 1.0

- object_id: active_perception/omni_objects/ginger/ginger_034
  xyz: [-0.3124663531780243, 0.04341449588537216, 1.2047185897827148]
  rpy: [-89.71053404216258, 0.22040059358221606, -5.733361097148963]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_054
  xyz: [0.2824081480503082, 0.09035076200962067, 0.16055527329444885]
  rpy: [13.06716138094517, 39.87635013771693, 130.69471671668117]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_031
  xyz: [-0.3103030025959015, 0.07148830592632294, 0.09672661870718002]
  rpy: [55.891118814740885, -28.04862356315051, 178.37267865039436]
  scale: 1.0