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_029
  xyz: [-0.0019391891546547413, -0.015277396887540817, 0.4544247090816498]
  rpy: [88.35215409799697, 0.22620485636764429, -0.07442115792893746]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_124
  xyz: [0.072306789457798, 0.13968698680400848, 0.44375982880592346]
  rpy: [-6.165195071100746, 0.5898670136400731, -88.97284497641702]
  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_028
  xyz: [0.11047247052192688, 0.10364166647195816, 0.45185586810112]
  rpy: [75.65803711037245, -64.80000072654671, -80.61762015524513]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_125
  xyz: [0.005631973501294851, -0.04048342630267143, 0.4560290277004242]
  rpy: [4.80996406930527, -12.31949634063078, -89.40354056787082]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_037
  xyz: [0.010870026424527168, -0.09446109086275101, 0.4484155774116516]
  rpy: [-30.94290438551263, -16.54320722023532, 132.9265065840336]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_030
  xyz: [0.21755225956439972, -0.03081425465643406, 0.43744444847106934]
  rpy: [-1.6535041595393576, 0.07425465346849261, -90.0298512557401]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_045
  xyz: [0.1342540681362152, -0.04873281717300415, 0.43751269578933716]
  rpy: [-91.64179895463162, -4.867290463407859, -89.92528627638775]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_120
  xyz: [0.14889824390411377, -0.14818398654460907, 0.43198561668395996]
  rpy: [-4.654898319564267, 1.2277334791462298, -90.50324281925208]
  scale: 1.0