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_003
  xyz: [-9.21142054721713e-06, 4.3042004108428955e-05, 0.06524354219436646]
  rpy: [2.1642662469978834e-05, 3.619132180376438e-07, 90.00001448901895]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_113
  xyz: [0.24367879331111908, 0.1255834996700287, -520.6961669921875]
  rpy: [-90.3335038875702, -6.995436589966524, 5.422392696071811]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_054
  xyz: [-0.4215719401836395, 0.021023331210017204, 1.2659329175949097]
  rpy: [-89.99767633454857, 1.90083034112848, 1.1885869532257571]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_040
  xyz: [-0.09116429090499878, -0.08710652589797974, 1.282806634902954]
  rpy: [-44.25443131084768, 31.496108377938064, 86.41106186796996]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_037
  xyz: [-0.40645164251327515, -0.1833648532629013, 0.07233317196369171]
  rpy: [-15.02655882927377, -81.73316929093382, 129.2055095776794]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_053
  xyz: [0.11290330439805984, 0.17519353330135345, 1.2852015495300293]
  rpy: [-126.0901987514125, 20.66355514040187, 2.9215753979634465]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_054
  xyz: [0.48242756724357605, -0.2080523669719696, 0.33269134163856506]
  rpy: [-19.451451289873273, 0.0904942504924729, -90.20878012601078]
  scale: 1.0