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: [0.012478331103920937, 0.023591354489326477, 0.3941042125225067]
  rpy: [-0.43409256419389175, -1.9414597476733313, 93.28260549689227]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_031
  xyz: [-0.059644922614097595, 0.009799901396036148, 0.4570856988430023]
  rpy: [-55.353825533630285, -2.9354283513357067, 2.8880265508939846]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_029
  xyz: [-0.01985994353890419, 0.08383921533823013, 0.474084734916687]
  rpy: [-90.29457072569063, -1.4709152761915085, 5.2458159802213284]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_039
  xyz: [-0.0023786902893334627, 0.011469738557934761, 0.4709773063659668]
  rpy: [-56.777759335190105, 35.3045698380747, 90.4139611445453]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_118
  xyz: [0.11545368283987045, -0.07257583737373352, 0.4530535936355591]
  rpy: [-56.55297650198005, -1.9565439993432958, 4.7821424654630915]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_055
  xyz: [0.05363892763853073, -0.022680124267935753, 0.4885134696960449]
  rpy: [-68.32347555082846, 7.5769104146233754, 1.709186324387666]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_130
  xyz: [0.07856171578168869, 0.09975654631853104, 0.44260814785957336]
  rpy: [-90.12100424941973, 5.191965611798933, 6.768990474172457]
  scale: 1.0