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: [-2.421438694000244e-08, -5.727633833885193e-07, -0.005999863147735596]
  rpy: [1.9606253628797094e-05, 1.0701532619297758e-05, 90.00004346705846]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_120
  xyz: [-0.007168560288846493, 0.16118837893009186, 0.12073929607868195]
  rpy: [-90.26359906718368, -3.016582386201421, -1.1267260804339834]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_059
  xyz: [0.5509721040725708, 0.18129032850265503, 0.20697353780269623]
  rpy: [-138.32450881554962, -55.268454801135356, 14.754561835157919]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_057
  xyz: [0.00388914393261075, -0.07924243807792664, 0.14851920306682587]
  rpy: [-89.964616775971, -14.665059684979392, -0.5845538880777268]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_105
  xyz: [0.5498747825622559, -0.136323943734169, 0.1523466259241104]
  rpy: [15.007820443934905, 5.4522199547800225, 3.3116205050654566]
  scale: 1.0

- object_id: active_perception/omni_objects/waffle/waffle_042
  xyz: [-0.2750873863697052, 0.20348584651947021, 0.16031496226787567]
  rpy: [-90.00150172696276, -2.290030002574877, 0.0004532995142651535]
  scale: 1.0

- object_id: active_perception/omni_objects/knife/knife_031
  xyz: [0.40171077847480774, 0.00022062801872380078, 0.12494736164808273]
  rpy: [-90.00002152792987, 0.00752185656442383, -1.6523856889297903]
  scale: 1.0