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: [-0.0035140831023454666, -0.00039090216159820557, 0.29748719930648804]
  rpy: [-0.09994535103828141, 0.8307188614139377, 89.7039569079076]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_129
  xyz: [-0.03834909573197365, -0.01908670738339424, 0.3192247450351715]
  rpy: [138.46574972245392, -22.375015376982564, 147.10115744701824]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_114
  xyz: [0.09816321730613708, -0.06335978209972382, 0.3049811124801636]
  rpy: [-90.34810545771184, 4.114975683362034, -9.142998034811761]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_033
  xyz: [0.029231108725070953, 0.03482004627585411, 0.313604474067688]
  rpy: [-101.45498664796492, -11.4444783111529, 2.6061788804249884]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_055
  xyz: [0.1211429163813591, -0.00368827604688704, 0.3088614046573639]
  rpy: [-90.28325590657066, 0.5024886398949671, -8.005357126601991]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_028
  xyz: [0.12004468590021133, 0.03566548973321915, 0.3072688579559326]
  rpy: [165.55771590289348, -62.61105314581416, 94.48571954068697]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_031
  xyz: [0.05371537432074547, 0.01286200899630785, 0.29729893803596497]
  rpy: [-45.770404769559505, 58.67313017733949, -7.839084548705912]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_041
  xyz: [0.018273361027240753, 0.06561088562011719, 0.30360308289527893]
  rpy: [-88.55423799090501, -36.634533983348355, 2.0835814232038907]
  scale: 1.0