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: [-0.010007977485656738, -0.0005495692603290081, 0.23304176330566406]
  rpy: [0.10411447308654097, 1.9458887320265992, 89.88378148564072]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_105
  xyz: [0.07614580541849136, -0.03768926113843918, 0.2711566090583801]
  rpy: [-65.18433033999618, 1.2111707833633754, 3.796400214533051]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_129
  xyz: [0.03366722911596298, -0.11323715001344681, 0.2943161427974701]
  rpy: [-105.9280967757297, -43.69660924847247, -171.90464506899517]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_114
  xyz: [0.11452307552099228, 0.048373471945524216, 0.27155953645706177]
  rpy: [-66.46608790771748, -9.960425943943509, -9.658704011047924]
  scale: 1.0

- object_id: active_perception/omni_objects/ginger/ginger_035
  xyz: [0.09500385820865631, 0.00869338121265173, 0.28775548934936523]
  rpy: [-78.64093929140365, -2.2142627914432325, 0.7153678296474681]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_060
  xyz: [0.07795892655849457, -0.021897079423069954, 0.30186259746551514]
  rpy: [-108.87327979653537, 38.247203858530426, -24.963751013636532]
  scale: 1.0