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/cabinet/cabinet_009
  xyz: [0.006832428276538849, -0.009764480404555798, 0.375384658575058]
  rpy: [88.61981056313527, -0.004018908458357635, 0.9526443638097204]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_125
  xyz: [0.02790268324315548, 0.10629594326019287, 0.8571540713310242]
  rpy: [7.1422669726583194, -7.850096263547522, -84.0665147007904]
  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_029
  xyz: [0.1329861879348755, -0.05133889615535736, 0.8577721118927002]
  rpy: [-123.4985004034852, 45.103938927842904, 120.15066822370322]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_038
  xyz: [-0.012927689589560032, -0.13825605809688568, 0.8458346724510193]
  rpy: [2.795879263629149, 1.510494953755555, -90.1236184486868]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_040
  xyz: [0.1365901380777359, 0.03259725868701935, 0.8363236784934998]
  rpy: [98.52425859316854, -60.05191922568439, -81.24031642779057]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_056
  xyz: [-0.013908235356211662, -0.08208196610212326, 0.854557991027832]
  rpy: [-18.565777331741632, 2.6262204689158475, -95.73026688098426]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_050
  xyz: [-0.020650099962949753, 0.0535469688475132, 0.8604288101196289]
  rpy: [8.288960054758519, 30.999611039575765, -85.13068673480642]
  scale: 1.0