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_026
  xyz: [-0.01206004898995161, -0.0014798603951931, 0.21103592216968536]
  rpy: [89.87644656139518, 0.26905472250885526, -1.9389674012094096]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_125
  xyz: [0.047479819506406784, 0.0685354545712471, 0.2622784972190857]
  rpy: [53.715496392072694, -6.694962903977474, -93.03693060726253]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_036
  xyz: [0.11505629867315292, 0.035524994134902954, 0.27960503101348877]
  rpy: [24.69874780145871, -0.09159791110309222, -94.0147116468328]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_122
  xyz: [0.005148973315954208, 0.005880699958652258, 0.24477188289165497]
  rpy: [5.116299203759395, -8.540269086670266, -88.45575340086496]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_029
  xyz: [0.04460873827338219, 0.13096797466278076, 0.26010969281196594]
  rpy: [92.62968318804027, -15.3026536626377, -100.34690011912808]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_042
  xyz: [0.04169599711894989, -0.05750070884823799, 0.24658414721488953]
  rpy: [121.42224167169361, 72.91720614967434, 55.48016307254878]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_028
  xyz: [0.16185621917247772, 0.053216416388750076, 0.24744011461734772]
  rpy: [-86.64692768575853, 30.764764670771452, -95.31389140407168]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_051
  xyz: [0.032796040177345276, 0.014818048104643822, 0.27624860405921936]
  rpy: [-31.840934619749866, 18.396662042494356, -91.73162651499523]
  scale: 1.0