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_025
  xyz: [0.0002965228632092476, 0.0025230050086975098, 0.21724006533622742]
  rpy: [-0.1360366154848852, -0.012102853921545129, 90.63605219734188]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_059
  xyz: [-0.10822997242212296, -0.10367231070995331, 0.5324440598487854]
  rpy: [89.7631149287388, -52.44258775016381, -177.73898051069025]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_038
  xyz: [0.11093338578939438, -0.07472046464681625, 0.5030166506767273]
  rpy: [-89.05647893218988, -7.235099691825214, -2.2016900389066176]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_114
  xyz: [-0.01852954924106598, 0.19509020447731018, 0.4949711561203003]
  rpy: [-84.59181622289029, 2.6237805079178527, -2.249961909771377]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_106
  xyz: [0.09119021892547607, 0.21075530350208282, 0.4952891767024994]
  rpy: [-89.98544801822561, -0.14062861008545596, -1.4199668655106945]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_039
  xyz: [-0.11603554338216782, 0.16034743189811707, 0.44109848141670227]
  rpy: [-90.10993672328767, -0.007681427425980797, 5.251620329953933]
  scale: 1.0