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/cabinet/cabinet_009
  xyz: [0.006832428276538849, -0.009764480404555798, 0.375384658575058]
  rpy: [0.018930259437201804, -0.9524647564731271, 88.61961980301977]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_125
  xyz: [0.02790268324315548, 0.10629594326019287, 0.8571540713310242]
  rpy: [-84.08652749477162, 6.295598192286999, 8.542591389955717]
  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_029
  xyz: [0.1329861879348755, -0.05133889615535736, 0.8577721118927002]
  rpy: [-153.01250008978568, 66.55677111723233, 168.28589988864678]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_038
  xyz: [-0.012927689589560032, -0.13825605809688568, 0.8458346724510193]
  rpy: [-90.12372242260264, 2.7926141687941586, -1.5165263593284097]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_040
  xyz: [0.1365901380777359, 0.03259725868701935, 0.8363236784934998]
  rpy: [11.88515219607691, 85.54413278846508, 162.2619981247309]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_056
  xyz: [-0.013908235356211662, -0.08208196610212326, 0.854557991027832]
  rpy: [-96.04554838037654, -18.73181925629418, -0.6914435238186561]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_050
  xyz: [-0.020650099962949753, 0.0535469688475132, 0.8604288101196289]
  rpy: [-85.75251842000941, 10.772286136955573, -30.295856782272917]
  scale: 1.0