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: [1.1119991540908813e-05, 2.425350248813629e-05, 0.006080150604248047]
  rpy: [89.91770722121804, 7.801805402733957e-05, -0.03732607129313491]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_043
  xyz: [0.16255392134189606, -0.055996622890233994, 0.12565457820892334]
  rpy: [-11.561719573382812, 4.660877773170933, -89.99420455163381]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_039
  xyz: [0.2383960336446762, 0.04676474258303642, 0.12890352308750153]
  rpy: [-9.194436680487456, -7.9135990799207985, -90.34478592345394]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_128
  xyz: [0.03403576835989952, 0.061955153942108154, 1.2183326482772827]
  rpy: [-3.029776064267987, 1.128779623897059, -90.12007667621207]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_044
  xyz: [-0.10678824782371521, -0.13540461659431458, 0.14297083020210266]
  rpy: [170.13541204827914, -79.36493584977933, 88.68492525458065]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_056
  xyz: [0.3267514109611511, 0.05417367443442345, 0.1383642852306366]
  rpy: [-17.040280105623673, 0.8274079718673878, -87.94079304557377]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_042
  xyz: [-0.1968710571527481, 0.08855249732732773, 0.13442593812942505]
  rpy: [86.65912352746112, -39.83040868017256, -30.356407519416855]
  scale: 1.0