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: [-0.00445573590695858, -0.011072833091020584, 0.0648726224899292]
  rpy: [0.4764363444258311, -5.270263964383948e-07, 89.99999516809429]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_043
  xyz: [-0.8027703166007996, -0.18257224559783936, 0.4894527494907379]
  rpy: [-80.63734622973794, 37.63727127506505, 5.024719102341037]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_128
  xyz: [0.15533548593521118, -0.2498398870229721, 0.2050500214099884]
  rpy: [-90.72027248400626, 1.0143203003837935, -1.462843803457258]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_059
  xyz: [-0.5762204527854919, -0.021063217893242836, 0.9068608283996582]
  rpy: [-92.79860038813202, -15.791334244757135, 10.440305323035474]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_060
  xyz: [-0.40764138102531433, -0.025068683549761772, 0.9101177453994751]
  rpy: [-95.8326194260981, 38.07512392633731, -19.00930942271523]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_037
  xyz: [0.608992338180542, 0.11661236733198166, 0.8802329301834106]
  rpy: [-62.79358124053367, 37.57511628533097, 88.24588937107309]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_060
  xyz: [-0.7685399651527405, -0.10027133673429489, 0.21564319729804993]
  rpy: [-80.78183482408134, 55.96046302897119, 10.95045611203101]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_040
  xyz: [0.08241654187440872, 0.20676325261592865, 0.21573610603809357]
  rpy: [-114.35622260843786, 64.55710249684054, 6.0914439948657]
  scale: 1.0