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: [0.006707167252898216, -0.00978370476514101, 0.3974125385284424]
  rpy: [88.62497278179107, -0.012612691010207554, 0.9391850934417972]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_106
  xyz: [-0.09353232383728027, 0.07713813334703445, 0.8577260375022888]
  rpy: [-1.3374473678149406, -3.532446503915315, -82.68919544684604]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_114
  xyz: [-0.0009755418286658823, 0.0800495445728302, 0.8618637919425964]
  rpy: [-179.68415113265075, 0.022222074085226192, 89.044706529774]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_127
  xyz: [0.038756705820560455, 0.14457708597183228, 0.8597614169120789]
  rpy: [174.56990466868984, -0.36874483919805257, -89.4386230405072]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_067
  xyz: [0.07290107011795044, 0.05052472651004791, 0.884907066822052]
  rpy: [-100.69666125486873, -1.4871113287093192, -166.41255016598228]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_031
  xyz: [-0.09321307390928268, -0.025698160752654076, 0.8609084486961365]
  rpy: [156.4019935908067, 7.720187977787422, -101.89384910452091]
  scale: 1.0

- object_id: active_perception/omni_objects/corn/corn_030
  xyz: [0.13197773694992065, -0.0023060599341988564, 0.8761539459228516]
  rpy: [40.81030030896531, 5.477276255997892, -86.39135988349186]
  scale: 1.0