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_028
  xyz: [5.960464477539063e-08, 6.891787052154541e-08, 0.28144797682762146]
  rpy: [90.00001448901929, -7.31157095549537e-06, 7.160645493639941e-06]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_037
  xyz: [0.060449860990047455, 0.16614319384098053, 0.386324018239975]
  rpy: [5.5684607193228235, -21.55491146273965, -101.61404921414277]
  scale: 1.0

- object_id: active_perception/omni_objects/soap/soap_037
  xyz: [0.16648751497268677, 0.13166943192481995, 0.2628943622112274]
  rpy: [152.15015189511274, 84.95673048020907, -65.79865721008824]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_111
  xyz: [-0.04492887109518051, 0.1844634860754013, 0.3878799378871918]
  rpy: [4.054228230858376, -3.1959414876353263, -90.6243856683826]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_041
  xyz: [-0.053608570247888565, 0.04223425313830376, 0.3811678886413574]
  rpy: [-87.74444293485907, 61.30882822475051, -103.29637573219405]
  scale: 1.0

- object_id: active_perception/omni_objects/waffle/waffle_040
  xyz: [0.15234160423278809, 0.048564791679382324, 0.29963141679763794]
  rpy: [0.6556449436213002, 4.652772779491649, -92.56870300462008]
  scale: 1.0