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_026
  xyz: [-0.01206004898995161, -0.0014798603951931, 0.21103592216968536]
  rpy: [0.2648713309458502, 1.9395430822398756, 89.87637709944859]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_125
  xyz: [0.047479819506406784, 0.0685354545712471, 0.2622784972190857]
  rpy: [-95.13109432422075, 53.96049657371685, 2.5513911778278566]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_036
  xyz: [0.11505629867315292, 0.035524994134902954, 0.27960503101348877]
  rpy: [-94.41766511117673, 24.640510390504993, -1.7530260801244288]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_122
  xyz: [0.005148973315954208, 0.005880699958652258, 0.24477188289165497]
  rpy: [-88.46731146965882, 4.8851774005867545, 8.673879547481588]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_029
  xyz: [0.04460873827338219, 0.13096797466278076, 0.26010969281196594]
  rpy: [151.90391241042727, 78.6745707882873, -103.02324982588586]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_042
  xyz: [0.04169599711894989, -0.05750070884823799, 0.24658414721488953]
  rpy: [11.113955350055516, -80.23257994643195, 154.51788588306863]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_028
  xyz: [0.16185621917247772, 0.053216416388750076, 0.24744011461734772]
  rpy: [-172.16812005601574, -85.39255582798717, 51.26970550969458]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_051
  xyz: [0.032796040177345276, 0.014818048104643822, 0.27624860405921936]
  rpy: [-91.9455694040312, -32.37263268703781, -17.362511669093145]
  scale: 1.0