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: [-2.741580829024315e-08, -2.9802322387695312e-08, 0.00037097930908203125]
  rpy: [90.00002897803614, 1.2155026134843186e-05, 3.5414081259590783e-06]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_032
  xyz: [-0.2638421058654785, 0.018328789621591568, 1.2195806503295898]
  rpy: [6.369126518195221, -12.440467594745307, -89.79060438577625]
  scale: 1.0

- object_id: active_perception/omni_objects/bowl/bowl_017
  xyz: [0.11245172470808029, -0.22367559373378754, 1.2371712923049927]
  rpy: [74.82107060383093, -87.82317248455823, -16.49783789301229]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_055
  xyz: [-0.07952628284692764, -0.09313002973794937, 1.2349698543548584]
  rpy: [8.809031358702674, 2.192501460364484, -90.35001842937976]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_064
  xyz: [-0.41686272621154785, -0.0027564994525164366, 0.21678829193115234]
  rpy: [-16.76007255009083, 16.514591759037646, -84.2352189673203]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_043
  xyz: [-0.43120065331459045, 0.12483589351177216, 1.2043894529342651]
  rpy: [-100.92095984286597, 73.47573689090886, -66.99692409815788]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_049
  xyz: [0.46525004506111145, 0.05989675968885422, 1.2265686988830566]
  rpy: [-6.774757460820967, 17.909517480813108, -89.63321139201092]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_040
  xyz: [-0.42970502376556396, 0.05233021080493927, 1.2045601606369019]
  rpy: [102.75696045978857, -24.076858388427578, -39.72597519385248]
  scale: 1.0