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: [0.0010277023538947105, -0.013396093621850014, 0.47130998969078064]
  rpy: [0.48685294697889697, -0.2507679729392742, 88.58330063786765]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_045
  xyz: [-0.056289270520210266, 0.03806056082248688, 0.45801714062690735]
  rpy: [48.3457765184247, 77.60073634854211, 76.98082879159365]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_104
  xyz: [0.14116813242435455, 0.04091213271021843, 0.4657316505908966]
  rpy: [-50.27112026614858, 35.757404857708785, 12.685544226192834]
  scale: 1.0

- object_id: active_perception/omni_objects/bowl/bowl_015
  xyz: [0.23891527950763702, -0.14628931879997253, 0.4859206974506378]
  rpy: [-88.00034920288961, -1.42284695718902, 90.21312762806468]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_036
  xyz: [0.12786836922168732, 0.10203122347593307, 0.487877756357193]
  rpy: [53.73362156804364, 66.84124867400743, 140.04264168297493]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_130
  xyz: [-0.021651890128850937, -0.046081751585006714, 0.4541776180267334]
  rpy: [-89.96474349750514, -1.1361152782988015, 3.2459217380078345]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_031
  xyz: [0.23852810263633728, -0.03745409846305847, 0.4728942811489105]
  rpy: [-90.65132308882008, 3.4262750447659704, -7.444873691491968]
  scale: 1.0