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/biscuit/biscuit_104
  xyz: [0.2187902182340622, -0.0509926900267601, 0.4545026123523712]
  rpy: [-0.8690103688335078, 7.061386351592766, -124.1651508831254]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_126
  xyz: [0.1559314876794815, -0.006891753524541855, 0.4527031183242798]
  rpy: [-1.1488760318807485, -0.516847841036918, -79.49002944054695]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_040
  xyz: [0.09979255497455597, 0.04647274687886238, 0.4581356942653656]
  rpy: [95.38951458926756, 23.14640180133844, 85.55994085358218]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_061
  xyz: [0.25329744815826416, 0.12898185849189758, 0.4568517804145813]
  rpy: [-1.42496285256958, -0.2640807365981795, -90.03267979456615]
  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_030
  xyz: [0.12168040871620178, -0.04139251261949539, 0.4774993360042572]
  rpy: [12.144734927620476, -50.573893134441136, -77.43044226491806]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_110
  xyz: [0.163521870970726, -0.07972187548875809, 0.44758814573287964]
  rpy: [-5.8148905400598565, 2.866455291684805, -79.88015483606917]
  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_029
  xyz: [0.1844605654478073, 0.0394318625330925, 0.4837464690208435]
  rpy: [-66.68363301528215, -8.755214665452236, -107.31696545536691]
  scale: 1.0