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: [0.00121364276856184, -0.003727440256625414, 0.3475756049156189]
  rpy: [89.49373210605081, 0.0686321462041255, 0.12131620774470257]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_034
  xyz: [-0.10782050341367722, -0.1242535337805748, 0.834889829158783]
  rpy: [-120.88502441111731, 0.7950248839433138, -89.55892753308221]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_112
  xyz: [0.1548844277858734, 0.09739700704813004, 0.8287165760993958]
  rpy: [-17.184284022995048, 0.9913996106124034, -94.19400566102891]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_054
  xyz: [0.080324187874794, -0.11180605739355087, 0.8269708156585693]
  rpy: [26.706110654493582, 18.785235548770732, -94.95476500883017]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_033
  xyz: [0.0793667584657669, 0.03589707612991333, 0.8356848955154419]
  rpy: [119.6029186702373, 2.4110871043781463, -81.83298182896192]
  scale: 1.0

- object_id: active_perception/omni_objects/corn/corn_031
  xyz: [0.012587593868374825, 0.12936708331108093, 0.8284088969230652]
  rpy: [-175.52181901325042, -3.546862908477194, -101.54729338364014]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_054
  xyz: [-0.08698488026857376, -0.053261253982782364, 0.8295174241065979]
  rpy: [-145.91648630766798, -0.1765865611284954, -88.62847639392062]
  scale: 1.0