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: [1.019798219203949e-07, 4.2654573917388916e-07, 2.9802322387695312e-08]
  rpy: [4.914537719141164e-05, 0.00018279038311219052, 90.00054092342688]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_045
  xyz: [-0.18834681808948517, -0.16000153124332428, 0.146682009100914]
  rpy: [63.07133998914644, 74.32416006686039, -69.53297967712255]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_061
  xyz: [-0.5935471057891846, -0.017665736377239227, 0.13730134069919586]
  rpy: [-89.65298517643227, -5.0559969826393, -30.390203858944165]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_103
  xyz: [0.215946763753891, -0.16886112093925476, 0.7584405541419983]
  rpy: [-97.71185750364951, 26.669173261261914, -2.5269374961835607]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_042
  xyz: [-0.1446520835161209, 0.1492021083831787, 0.12998931109905243]
  rpy: [84.20027616924693, 86.1088643494997, 108.82761241633145]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_040
  xyz: [0.6812019348144531, -0.25429221987724304, 0.06955869495868683]
  rpy: [95.90562105764435, -35.7215758266505, -79.76708633400649]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_028
  xyz: [-0.4131260812282562, -0.09774454683065414, 0.13010743260383606]
  rpy: [119.92629159193068, 59.63344804588897, 86.87314086954099]
  scale: 1.0