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_001
  xyz: [0.005622704513370991, -0.013195041567087173, 0.06487274169921875]
  rpy: [89.99998551254829, 0.7876539285367913, -2.7774491455798347e-07]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_126
  xyz: [-0.45422691106796265, 0.1856711208820343, 0.06929393112659454]
  rpy: [-2.265351704179794, 1.2668109832113614, -89.95681215501007]
  scale: 1.0

- object_id: active_perception/omni_objects/corn/corn_030
  xyz: [-0.592729389667511, -0.16370443999767303, 0.21343792974948883]
  rpy: [3.7567435704589363, -0.1153777554186899, -91.19835763572486]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_042
  xyz: [-0.3937448263168335, 0.186106875538826, 0.21239155530929565]
  rpy: [85.8813024385551, -42.0178277634929, -34.30674155082405]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_065
  xyz: [-0.55046546459198, 0.1254674345254898, 0.22112341225147247]
  rpy: [64.19503424210437, 49.46515519088135, -50.454578939582625]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_058
  xyz: [-0.42053425312042236, -0.02265826426446438, 0.24784474074840546]
  rpy: [8.14246956561994, -9.279585093929382, -113.47845124015353]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_047
  xyz: [-0.4218096137046814, -0.02377079799771309, 0.07559432834386826]
  rpy: [17.438488666625492, 11.440271468311465, -93.09371657017915]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_128
  xyz: [0.05780746787786484, -0.1336626559495926, 0.07617145031690598]
  rpy: [-3.8204828239588613, -3.4689224237583787, -90.21521304283445]
  scale: 1.0