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_028
  xyz: [-0.004109079949557781, -0.0005391123704612255, 0.29186055064201355]
  rpy: [-0.10971551478410467, 0.8384867550401243, 89.71397764053638]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_054
  xyz: [0.03123067505657673, -0.013880057260394096, 0.31161248683929443]
  rpy: [-78.45482991001406, 7.335170160251624, -27.440960618671234]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_125
  xyz: [0.002126286970451474, 0.04345492273569107, 0.3073907792568207]
  rpy: [-88.65777675068135, 9.275116772219972, -1.0831190293332358]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_028
  xyz: [0.04149894043803215, 0.08769883215427399, 0.2969461679458618]
  rpy: [-34.17391455462022, -28.49011113856144, 90.50927560780087]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_048
  xyz: [0.065407894551754, 0.05164383351802826, 0.30706658959388733]
  rpy: [-159.6449748462991, 34.7418925148199, -60.02597784682107]
  scale: 1.0

- object_id: active_perception/omni_objects/waffle/waffle_042
  xyz: [-0.04748834669589996, -0.023584259673953056, 0.3523070514202118]
  rpy: [-89.42138240233055, -9.393030468930547, -33.588584775245515]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_104
  xyz: [0.1502104252576828, -0.00234344694763422, 0.30890199542045593]
  rpy: [-89.70002797994358, -3.6009139117369546, -7.511399528618345]
  scale: 1.0