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/sofa/sofa_013
  xyz: [-0.003246061969548464, -0.003691340796649456, 0.35076379776000977]
  rpy: [0.0013732067827766478, 0.5148422409611048, 89.41328904977921]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_037
  xyz: [-0.02333688549697399, -0.4782240688800812, 0.39501896500587463]
  rpy: [-173.603734384153, -57.001674556453004, 85.50667079928544]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_045
  xyz: [0.04740513116121292, -0.10784894227981567, 0.388706237077713]
  rpy: [-79.64632635540059, 31.05030703126673, 14.789345626321651]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_041
  xyz: [0.11089237779378891, 0.33133822679519653, 0.38071608543395996]
  rpy: [-101.35683963274792, 15.763256532856161, -79.08322032103304]
  scale: 1.0

- object_id: active_perception/omni_objects/soap/soap_037
  xyz: [0.21288235485553741, -0.15956145524978638, 0.38425374031066895]
  rpy: [-79.78553445353471, 12.954651671326511, -85.60461208775023]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_125
  xyz: [0.1104183942079544, -0.0906282290816307, 0.374197781085968]
  rpy: [-103.00544678147016, -0.970319373103763, -1.3335526366742443]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_051
  xyz: [0.23015326261520386, -0.10084830969572067, 0.4005283713340759]
  rpy: [-84.74962057288542, -66.34730400319582, -18.69165159755728]
  scale: 1.0

- object_id: active_perception/omni_objects/garlic/garlic_032
  xyz: [0.013910310342907906, -0.050166282802820206, 0.3765539228916168]
  rpy: [-88.93147225018645, 11.036251558362084, 2.5985868766128264]
  scale: 1.0