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_027
  xyz: [0.010518450289964676, 0.020725751295685768, 0.4148634076118469]
  rpy: [-0.246805632608312, -1.5976627378504753, 92.99975310010751]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_038
  xyz: [0.02299380674958229, -0.12437674403190613, 0.47560665011405945]
  rpy: [145.73197854232373, -75.52298848025205, 161.60797073188073]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_040
  xyz: [0.08024895191192627, 0.15819312632083893, 0.45979124307632446]
  rpy: [46.56419569874428, 72.71843246703689, 79.9411413714814]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_030
  xyz: [0.1010628417134285, 0.11205171793699265, 0.4612550139427185]
  rpy: [-82.44654859434618, -34.98804454951352, -166.89504782913687]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_044
  xyz: [0.08991983532905579, 0.010868328623473644, 0.5064496994018555]
  rpy: [-86.58264720510364, 1.6108657182328958, 1.7030681506371572]
  scale: 1.0

- object_id: active_perception/omni_objects/bowl/bowl_015
  xyz: [0.045877762138843536, 0.02568945661187172, 0.5692135691642761]
  rpy: [-75.71163134056975, -5.88624153376538, 3.348680398686286]
  scale: 1.0