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: [-2.5122426450252533e-07, -3.725290298461914e-09, -0.006296426057815552]
  rpy: [90.00000965934584, 2.0066254595316194e-05, 2.6483005345173874e-06]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_039
  xyz: [0.3404531478881836, 0.10718400031328201, 0.12337004393339157]
  rpy: [-102.59122492500856, -73.59013223059104, -109.94685047268136]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_042
  xyz: [-0.24077124893665314, -0.15295295417308807, 0.7418116927146912]
  rpy: [-11.169886862705356, 21.167096977550376, -87.49861380020307]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_129
  xyz: [-0.0804676041007042, -0.18895970284938812, 0.7346137166023254]
  rpy: [1.9018202341750858, -1.1880172923866092, -89.97519392048729]
  scale: 1.0