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: [-9.220093488693237e-08, 3.241002559661865e-07, -0.06014382839202881]
  rpy: [-7.802969294478993e-06, -2.4073190535781608e-06, 90.00000482967273]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_038
  xyz: [-0.055946893990039825, -0.17942705750465393, 0.7685343027114868]
  rpy: [134.77648183500548, 5.526510859663884, -2.2497941043125285]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_037
  xyz: [-0.243138387799263, -0.16750207543373108, 0.7581920027732849]
  rpy: [-70.3637901384168, -4.373957210416267, 34.93994237471697]
  scale: 1.0

- object_id: active_perception/omni_objects/knife/knife_031
  xyz: [0.6837254166603088, -0.15869274735450745, 0.7540795207023621]
  rpy: [-113.83304280456899, 86.72203587922338, -26.95718146494192]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_120
  xyz: [-0.2136208713054657, 0.07222819328308105, 0.7513246536254883]
  rpy: [-85.31343444788186, -3.0166480195354817, -1.1267443530284158]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_111
  xyz: [-0.40803012251853943, -0.08944495767354965, 0.7566863894462585]
  rpy: [-90.08184372169903, 0.014600245638151514, -0.0006853463892496826]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_114
  xyz: [-0.6990942358970642, -0.15722723305225372, 0.752764105796814]
  rpy: [-90.00208552288508, -0.17653777707412274, -1.4145919495113395]
  scale: 1.0