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: [1.0174699127674103e-07, 4.367902874946594e-07, 5.960464477539063e-08]
  rpy: [4.9035268567848564e-05, 0.00018102008334859988, 90.00054092342596]
  scale: 1.0

- object_id: active_perception/omni_objects/corn/corn_032
  xyz: [0.42222869396209717, -0.063190758228302, 1.0121554136276245]
  rpy: [-86.38474317498013, 17.758628248483973, 0.0603697624675931]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_039
  xyz: [0.5512241125106812, -0.08586511015892029, 0.1385641247034073]
  rpy: [-137.12208160416841, 85.31202731982033, -65.52932589923189]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_112
  xyz: [0.3912886679172516, -0.1729152649641037, 0.157847061753273]
  rpy: [-90.11172322289872, -11.063866282557113, -1.4908216799956167]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_060
  xyz: [0.6156103610992432, 0.14927257597446442, 0.17193274199962616]
  rpy: [-90.44768822430298, 4.250963024590719, 0.744567488225817]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_040
  xyz: [0.23181280493736267, -0.18762226402759552, 1.0706110000610352]
  rpy: [-92.32892534851442, 18.635078845619137, -11.871472516362614]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_037
  xyz: [-0.6357179880142212, 0.10920548439025879, 0.16479191184043884]
  rpy: [-90.13197766194736, -0.35956322688903375, 13.15135080339903]
  scale: 1.0