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/table/table_027
  xyz: [7.347390055656433e-05, -0.0007099956274032593, 0.46526038646698]
  rpy: [2.7342936897450486e-06, -0.009369037894869375, 89.9102550087422]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_042
  xyz: [-0.18190120160579681, -0.4257824718952179, 0.8066297173500061]
  rpy: [-95.44515818842726, -12.187726906559577, -20.24077585649744]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_031
  xyz: [-0.15649282932281494, 0.05104178562760353, 0.793309211730957]
  rpy: [-90.17658210888608, 15.946499651261634, -2.553143344957904]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_030
  xyz: [-0.13911239802837372, -0.04784880951046944, 0.7945224046707153]
  rpy: [-56.925948700115825, -88.1470565073875, -34.695633473410176]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_065
  xyz: [-0.0064493208192288876, 0.3107498586177826, 0.8212128281593323]
  rpy: [-38.98608264939332, 64.41599967762701, 58.53308368065165]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_122
  xyz: [0.1435786485671997, -0.39626777172088623, 0.7971068620681763]
  rpy: [-90.0018569948217, -0.08993007468487926, 0.009212380981869557]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_048
  xyz: [-0.18711693584918976, -0.355323851108551, 0.8118197917938232]
  rpy: [110.83800872019405, 33.351783508355346, -173.13088771054117]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_028
  xyz: [0.08040450513362885, -0.38116586208343506, 0.7989243865013123]
  rpy: [-89.99927209175097, -0.1046059548137074, 0.012085130217200582]
  scale: 1.0