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/cabinet/cabinet_009
  xyz: [0.006613242439925671, -0.009521248750388622, 0.4033784568309784]
  rpy: [0.12608755693060691, -0.9603402928105148, 88.61155556777636]
  scale: 1.0

- object_id: active_perception/omni_objects/soap/soap_037
  xyz: [0.19723746180534363, -0.04880416765809059, 0.8572527170181274]
  rpy: [-73.39091606081678, 0.2288187552853853, 96.58695938967814]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_039
  xyz: [0.15307432413101196, -0.026445679366588593, 0.8817943334579468]
  rpy: [-61.93689004005149, 26.291271408436458, 43.88260039017374]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_045
  xyz: [0.0383366234600544, 0.07386764883995056, 0.8674019575119019]
  rpy: [59.031596078492775, 74.63992365152517, 84.64406686553255]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_104
  xyz: [-0.13109463453292847, -0.11915754526853561, 0.8624886870384216]
  rpy: [-89.22865564340965, -5.824645543416764, -6.530071217398856]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_041
  xyz: [0.11868615448474884, -0.12912902235984802, 0.8723306059837341]
  rpy: [50.185698391578796, -74.5073105586973, -97.67591040629462]
  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_029
  xyz: [0.1460922211408615, 0.1321875900030136, 0.8888135552406311]
  rpy: [-106.65805919519741, -13.399136384066964, 56.932281542304786]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_052
  xyz: [-0.11937824636697769, 0.06286828219890594, 0.8905937075614929]
  rpy: [-74.8873561647739, 54.75519229867925, -3.6881109642641516]
  scale: 1.0