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/table/table_028
  xyz: [5.960464477539063e-08, 6.891787052154541e-08, 0.28144797682762146]
  rpy: [-7.311572756826748e-06, -7.1606436489182265e-06, 90.00001448901934]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_037
  xyz: [0.060449860990047455, 0.16614319384098053, 0.386324018239975]
  rpy: [-100.9504788839068, 9.710041411993066, 20.093882778349922]
  scale: 1.0

- object_id: active_perception/omni_objects/soap/soap_037
  xyz: [0.16648751497268677, 0.13166943192481995, 0.2628943622112274]
  rpy: [87.93037753153077, 3.7290719409575104, 94.46735031984846]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_111
  xyz: [-0.04492887109518051, 0.1844634860754013, 0.3878799378871918]
  rpy: [-90.62500539472148, 4.08879713675781, 3.1515647206997195]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_041
  xyz: [-0.053608570247888565, 0.04223425313830376, 0.3811678886413574]
  rpy: [124.06569781831242, -78.63148602784614, 84.49949631456012]
  scale: 1.0

- object_id: active_perception/omni_objects/waffle/waffle_040
  xyz: [0.15234160423278809, 0.048564791679382324, 0.29963141679763794]
  rpy: [-92.56031028335921, 0.446694377144822, -4.677406020988758]
  scale: 1.0