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_026
  xyz: [4.7069741412997246e-05, 0.0001042005605995655, 0.377864807844162]
  rpy: [-0.028360000579106228, -8.075791673897126e-05, 89.99999036064027]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_028
  xyz: [0.1341770887374878, 0.1480761468410492, -0.02285735495388508]
  rpy: [-105.23707262450216, -61.51411273251888, 99.81775995002037]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_127
  xyz: [0.12109516561031342, -0.18674588203430176, 0.6971540451049805]
  rpy: [-89.87865553001282, -3.441829815605675, 0.7702036659111915]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_029
  xyz: [0.052287306636571884, -0.07917667925357819, 0.7202030420303345]
  rpy: [-97.55029995352882, -37.75558366984147, 31.86117600070003]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_039
  xyz: [0.04776069521903992, 0.038014110177755356, 0.6981335282325745]
  rpy: [-165.32358382710058, -80.03760595284386, 127.13899098781795]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_056
  xyz: [-0.23402047157287598, 0.02326931618154049, 0.727636456489563]
  rpy: [-90.03247962741823, 23.56563596393118, -0.20094943271386387]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_049
  xyz: [0.19097228348255157, -0.19418899714946747, -0.04491649940609932]
  rpy: [124.35265798719807, 42.171776343912335, 2.9089467197138377]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_109
  xyz: [-0.0934770479798317, 0.00865254271775484, 0.701958954334259]
  rpy: [-96.02839969252085, -6.045148169732125, 3.837177423699664]
  scale: 1.0