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/chair/chair_029
  xyz: [0.0010277070105075836, -0.013396093621850014, 0.47130998969078064]
  rpy: [88.58326437921104, 0.48050427379070004, 0.2627282167375067]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_045
  xyz: [-0.03306618332862854, -0.05609988048672676, 0.46863412857055664]
  rpy: [-0.07878344244904019, -35.197220193232795, -153.6560010196826]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_063
  xyz: [-0.04057835787534714, 0.05032724514603615, 0.47457462549209595]
  rpy: [69.54721202145544, 1.406402140570401, -89.84541336089633]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_121
  xyz: [0.05811583250761032, 0.10185203701257706, 0.457631379365921]
  rpy: [-1.152843745927983, -4.467845309954295, -90.21077957559957]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_031
  xyz: [0.19471262395381927, 0.03233695402741432, 0.4550175964832306]
  rpy: [-108.02093766657353, 1.8924868426992525, -87.26868594531645]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_116
  xyz: [-0.0222990233451128, -0.0014742894563823938, 0.46523040533065796]
  rpy: [-2.862215259119414, 5.199877868236294, -86.14569270365233]
  scale: 1.0

- object_id: active_perception/omni_objects/watch/watch_013
  xyz: [0.015602105297148228, -0.06377392262220383, 0.4670066237449646]
  rpy: [-15.250526062309012, 6.034774178841092, -38.33276683694974]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_049
  xyz: [0.20220260322093964, 0.1389920860528946, 0.45676231384277344]
  rpy: [-1.3856722408468174, 1.1343884257558465, -90.19021049827938]
  scale: 1.0