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: [5.00003807246685e-08, 1.043081283569336e-07, -0.05977308750152588]
  rpy: [90.00000482967259, 5.442593465134816e-06, -7.63848424298516e-07]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_031
  xyz: [-0.5781857967376709, -0.04313921183347702, 1.141689658164978]
  rpy: [15.954634699943883, 0.029840445354346545, -95.17849512087187]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_119
  xyz: [-0.210454523563385, -0.016373546794056892, 1.141706109046936]
  rpy: [0.29590224624776573, -1.3284158857998585, -90.00023553784547]
  scale: 1.0

- object_id: active_perception/omni_objects/corn/corn_029
  xyz: [-0.5411771535873413, -0.1043897271156311, 1.1588128805160522]
  rpy: [-24.8563980924281, 2.9945544235769184, -91.2008519559379]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_056
  xyz: [0.0854501724243164, 0.020426146686077118, 1.167594313621521]
  rpy: [-31.419484271013587, 1.5789582351581324, -92.23326634807691]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_110
  xyz: [-0.06631174683570862, 0.038029201328754425, 0.1315489560365677]
  rpy: [-5.289111819908955, 2.2731110744014917, -87.98333915755961]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_057
  xyz: [0.06270138174295425, -0.04442468658089638, 1.1657730340957642]
  rpy: [-119.72739837729712, 1.9443907137055154, -90.51867316065851]
  scale: 1.0