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: [-0.00445573590695858, -0.011072833091020584, 0.0648726224899292]
  rpy: [89.99999516792724, 0.47643634442577754, 5.67206458229292e-07]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_043
  xyz: [-0.8027703166007996, -0.18257224559783936, 0.4894527494907379]
  rpy: [37.916104011095754, 0.7187064413968992, -82.5975795926231]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_128
  xyz: [0.15533548593521118, -0.2498398870229721, 0.2050500214099884]
  rpy: [1.0326302903009856, 1.4499780808820408, -90.7203902955311]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_059
  xyz: [-0.5762204527854919, -0.021063217893242836, 0.9068608283996582]
  rpy: [-16.26831835554812, -9.667357537223946, -92.73172063683495]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_060
  xyz: [-0.40764138102531433, -0.025068683549761772, 0.9101177453994751]
  rpy: [39.482295128007124, 15.354063773631527, -94.75864799336242]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_037
  xyz: [0.608992338180542, 0.11661236733198166, 0.8802329301834106]
  rpy: [87.06747644276423, -61.69237876894247, -40.17043872991383]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_060
  xyz: [-0.7685399651527405, -0.10027133673429489, 0.21564319729804993]
  rpy: [56.60052142209812, -3.2778918736711007, -84.84686333433737]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_040
  xyz: [0.08241654187440872, 0.20676325261592865, 0.21573610603809357]
  rpy: [61.11225913901285, -27.83838075700451, -101.558233723221]
  scale: 1.0