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: [-1.6670674085617065e-07, 1.0989606380462646e-07, 0.016625672578811646]
  rpy: [-1.2719308618868415e-05, -7.2859263084875735e-06, 90.00000000000081]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_057
  xyz: [0.4048232436180115, -0.09679258614778519, 0.7822784781455994]
  rpy: [93.14544244602928, -62.10621054033463, 176.80328290727778]
  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_028
  xyz: [-0.2537483870983124, 0.19574537873268127, 0.15603452920913696]
  rpy: [-29.398918416639393, 68.43406199390458, 75.440760295607]
  scale: 1.0

- object_id: active_perception/omni_objects/waffle/waffle_042
  xyz: [-0.16343115270137787, 0.05271369591355324, 0.7629494667053223]
  rpy: [-6.483136280523622, -86.94818342963572, -86.77648479753084]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_033
  xyz: [0.5245665907859802, -0.030867207795381546, 0.1661221832036972]
  rpy: [-171.60028624177846, 40.58299828654163, 11.36194109194135]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_060
  xyz: [-0.2781287729740143, -0.0764213278889656, 0.788716197013855]
  rpy: [-93.39492787730596, 38.58449328755145, -18.280556556133657]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_038
  xyz: [0.5400026440620422, 0.11528132855892181, 0.12127575278282166]
  rpy: [-90.74640169550086, 2.7520909570242233, 0.7687255975349849]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_037
  xyz: [0.004462535493075848, 0.14294688403606415, 0.17713859677314758]
  rpy: [83.32411326628163, 59.92990616241467, -21.478556792210156]
  scale: 1.0