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_029
  xyz: [0.0010277070105075836, -0.013396093621850014, 0.47130998969078064]
  rpy: [0.48685294697889697, -0.2507679729392742, 88.58330063786765]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_045
  xyz: [-0.03306618332862854, -0.05609988048672676, 0.46863412857055664]
  rpy: [-148.74456461231276, 31.059053766324343, 17.45906889190255]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_063
  xyz: [-0.04057835787534714, 0.05032724514603615, 0.47457462549209595]
  rpy: [-89.55767274184713, 69.55044724627756, -0.9919543813282209]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_121
  xyz: [0.05811583250761032, 0.10185203701257706, 0.457631379365921]
  rpy: [-90.21018039839005, -1.1364163816943411, 4.4720439276307165]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_031
  xyz: [0.19471262395381927, 0.03233695402741432, 0.4550175964832306]
  rpy: [81.19630737719426, -71.86947459178012, -173.5216931076628]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_116
  xyz: [-0.0222990233451128, -0.0014742894563823938, 0.46523040533065796]
  rpy: [-86.15789650395672, -2.50673474041548, -5.379893990063481]
  scale: 1.0

- object_id: active_perception/omni_objects/watch/watch_013
  xyz: [0.015602105297148228, -0.06377392262220383, 0.4670066237449646]
  rpy: [-38.48106695937003, -4.794431541447753, -15.675534175033329]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_049
  xyz: [0.20220260322093964, 0.1389920860528946, 0.45676231384277344]
  rpy: [-90.19022915016312, -1.3894302956960294, -1.1297820281548159]
  scale: 1.0