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_028
  xyz: [-0.003508185036480427, -0.0004306584596633911, 0.297487735748291]
  rpy: [-0.09410734691689837, 0.8284025160353319, 89.70110812946105]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_039
  xyz: [-0.043056730180978775, 0.06958190351724625, 0.3120899498462677]
  rpy: [-97.57198164471974, 34.12357105277867, 37.58415789993637]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_045
  xyz: [0.0421561598777771, -0.04750030115246773, 0.2979702949523926]
  rpy: [64.95130117597898, 82.31295613245838, 140.1557126669075]
  scale: 1.0

- object_id: active_perception/omni_objects/ginger/ginger_036
  xyz: [-0.009224501438438892, -0.05255249887704849, 0.3122490346431732]
  rpy: [-90.79252721293265, -68.09752879194721, 16.457893262369197]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_056
  xyz: [0.08821800351142883, 0.03532162308692932, 0.3235689103603363]
  rpy: [-98.63809632926973, -17.197427307251942, -9.95120968208977]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_036
  xyz: [-0.006728057749569416, 0.013279100880026817, 0.32789507508277893]
  rpy: [-71.53474797392055, -36.05413244933162, -32.80217051755011]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_039
  xyz: [0.15791907906532288, 0.008880577981472015, 0.31369224190711975]
  rpy: [-171.3075189846586, -81.17783642975276, 118.98208471802823]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_130
  xyz: [0.04810537397861481, -0.08197561651468277, 0.3111250400543213]
  rpy: [-83.28455696174896, -8.222533744764677, -4.539167590018856]
  scale: 1.0