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_009
  xyz: [4.654284566640854e-06, 1.12876296043396e-05, -0.016544461250305176]
  rpy: [89.91797284051121, 4.996140973897241e-05, -0.03720221246754359]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_129
  xyz: [0.12370025366544724, -0.04444575682282448, 0.4905914068222046]
  rpy: [1.806819477933002, -1.1952877328433005, -90.24675351725884]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_058
  xyz: [-0.3175164759159088, -0.023932067677378654, 0.63758385181427]
  rpy: [2.596914044351794, -14.011449865621312, -70.42440396468206]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_028
  xyz: [-0.3371700048446655, -0.06648455560207367, 0.48879382014274597]
  rpy: [120.49519726665893, 15.08674431298806, -98.52944492071452]
  scale: 1.0

- object_id: active_perception/omni_objects/ginger/ginger_035
  xyz: [-0.0916185975074768, 0.11218777298927307, 1.208400845527649]
  rpy: [-176.54259076851764, 4.630471455634429, 43.837239066580096]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_034
  xyz: [-0.19892971217632294, 0.025703903287649155, 1.2335636615753174]
  rpy: [17.627026268654145, -7.06662940287984, -115.26825250951892]
  scale: 1.0