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_009
  xyz: [4.654284566640854e-06, 1.12876296043396e-05, -0.016544461250305176]
  rpy: [-3.2989553635665893e-06, 0.037202245869601636, 89.91797282322023]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_129
  xyz: [0.12370025366544724, -0.04444575682282448, 0.4905914068222046]
  rpy: [-90.24682323947836, 1.811950033964726, 1.18749440715268]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_058
  xyz: [-0.3175164759159088, -0.023932067677378654, 0.63758385181427]
  rpy: [-71.01497968934207, -2.197679140573226, 14.078263559198732]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_028
  xyz: [-0.3371700048446655, -0.06648455560207367, 0.48879382014274597]
  rpy: [106.99367875718377, 60.660511924969704, 179.67002692297555]
  scale: 1.0

- object_id: active_perception/omni_objects/ginger/ginger_035
  xyz: [-0.0916185975074768, 0.11218777298927307, 1.208400845527649]
  rpy: [-44.023723898363905, -0.9371504585731709, -174.29968853343675]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_034
  xyz: [-0.19892971217632294, 0.025703903287649155, 1.2335636615753174]
  rpy: [-116.59947992522142, 18.8985379009959, -1.4070551932796318]
  scale: 1.0