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_028
  xyz: [-0.0035140831023454666, -0.00039090216159820557, 0.29748719930648804]
  rpy: [89.70398761142783, -0.09565192321578898, -0.8312241282725891]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_129
  xyz: [-0.03834909573197365, -0.01908670738339424, 0.3192247450351715]
  rpy: [-141.45819431055043, 6.943795586706128, -134.2121161348976]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_114
  xyz: [0.09816321730613708, -0.06335978209972382, 0.3049811124801636]
  rpy: [4.170776728674197, 9.117849479861466, -90.35165140258185]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_033
  xyz: [0.029231108725070953, 0.03482004627585411, 0.313604474067688]
  rpy: [-11.729882127281167, -0.2979551574082078, -101.22439561810464]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_055
  xyz: [0.1211429163813591, -0.00368827604688704, 0.3088614046573639]
  rpy: [0.5423165854814568, 8.002774529995458, -90.28603059422838]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_028
  xyz: [0.12004468590021133, 0.03566548973321915, 0.3072688579559326]
  rpy: [-92.09669376060339, 10.450826724309493, -116.93672647123468]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_031
  xyz: [0.05371537432074547, 0.01286200899630785, 0.29729893803596497]
  rpy: [44.786140055235364, 43.472658325660674, -60.01722757640219]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_041
  xyz: [0.018273361027240753, 0.06561088562011719, 0.30360308289527893]
  rpy: [-36.58356263598647, -2.945793548035602, -88.83834538475828]
  scale: 1.0