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/table/table_027
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  rpy: [89.83404776955064, -0.0012216118481064668, 0.020065315695447006]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_030
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  rpy: [-163.40072382583438, -21.02732782984428, -83.55348424447263]
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- object_id: active_perception/omni_objects/bottle/bottle_054
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  rpy: [175.4161882414283, 1.0079584919328357, -91.13778810756217]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_117
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- object_id: active_perception/omni_objects/shrimp/shrimp_044
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  rpy: [-135.20412602891244, 78.4438445165978, -47.41525778224755]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_039
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  rpy: [-87.9053449741877, -56.13926963591522, 98.7100158142146]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_047
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  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_039
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  rpy: [166.85304187633903, 24.68137503402983, -127.9601809776808]
  scale: 1.0