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/biscuit/biscuit_104
  xyz: [0.2187902182340622, -0.0509926900267601, 0.4545026123523712]
  rpy: [-123.99941296553573, -4.679259498585632, -5.364989949670604]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_126
  xyz: [0.1559314876794815, -0.006891753524541855, 0.4527031183242798]
  rpy: [-79.48803655310087, -1.2238751611185845, 0.2985886379205077]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_040
  xyz: [0.09979255497455597, 0.04647274687886238, 0.4581356942653656]
  rpy: [-41.66629293730251, -84.53199246968798, 155.0048114614722]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_061
  xyz: [0.25329744815826416, 0.12898185849189758, 0.4568517804145813]
  rpy: [-90.0326895545478, -1.4248119975488942, 0.26489360860661576]
  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_030
  xyz: [0.12168040871620178, -0.04139251261949539, 0.4774993360042572]
  rpy: [-82.0490124388834, 2.349723781088601, 51.58218623346694]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_110
  xyz: [0.163521870970726, -0.07972187548875809, 0.44758814573287964]
  rpy: [-79.85039753575236, -5.220967424900503, -3.844962441537209]
  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_029
  xyz: [0.1844605654478073, 0.0394318625330925, 0.4837464690208435]
  rpy: [-125.04306332503516, -59.17928790583905, 40.22384890411431]
  scale: 1.0