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: [90.00004346705845, 1.9606245501182075e-05, -1.0701547504293668e-05]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_120
  xyz: [-0.007168560288846493, 0.16118837893009186, 0.12073929607868195]
  rpy: [-3.011373332497349, 1.1405860330718727, -90.26328597468085]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_059
  xyz: [0.5509721040725708, 0.18129032850265503, 0.20697353780269623]
  rpy: [-52.52483221070046, 25.104081186832495, -118.03018750468583]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_057
  xyz: [0.00388914393261075, -0.07924243807792664, 0.14851920306682587]
  rpy: [-14.665406253765218, 0.5755958829929965, -89.96576775204727]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_105
  xyz: [0.5498747825622559, -0.136323943734169, 0.1523466259241104]
  rpy: [1.8000561443361236, 6.118212691166368, 14.753885085351678]
  scale: 1.0

- object_id: active_perception/omni_objects/waffle/waffle_042
  xyz: [-0.2750873863697052, 0.20348584651947021, 0.16031496226787567]
  rpy: [-2.290030013660662, -0.00039329362402645114, -90.00150052762851]
  scale: 1.0

- object_id: active_perception/omni_objects/knife/knife_031
  xyz: [0.40171077847480774, 0.00022062801872380078, 0.12494736164808273]
  rpy: [0.007522477592877212, 1.652385686103444, -90.00002153688543]
  scale: 1.0