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: [-0.0033853212371468544, 0.0246126689016819, 0.365233838558197]
  rpy: [117.19575027168057, 1.650850693456084, -7.8482196929970405]
  scale: 1.0

- object_id: active_perception/omni_objects/garlic/garlic_032
  xyz: [0.004555722698569298, -0.04953886196017265, 0.07064509391784668]
  rpy: [177.16484437681115, 1.4302478655419502, -122.87402688973847]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_112
  xyz: [0.013796973042190075, -0.11225001513957977, 0.07440730184316635]
  rpy: [179.61255871829331, -1.701307352051347, -109.42894845123168]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_030
  xyz: [0.12335176765918732, 0.0852266401052475, 0.07237309962511063]
  rpy: [-94.49569017384121, -61.05888316427183, 91.28158140991712]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_039
  xyz: [-0.02457842044532299, 0.12166478484869003, 0.34072527289390564]
  rpy: [-166.13876425677873, 13.24966671283484, -151.65974611260282]
  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_029
  xyz: [0.0811765044927597, -0.10223161429166794, 0.09429243206977844]
  rpy: [-86.50101704255411, -21.254434570752625, -117.24230361501277]
  scale: 1.0

- object_id: active_perception/omni_objects/knife/knife_031
  xyz: [0.0979088619351387, -0.026862652972340584, 0.07345183938741684]
  rpy: [-29.92307278096727, 4.725522457696794, -95.82645701759]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_033
  xyz: [0.09461355954408646, -0.01103352103382349, 0.0818539708852768]
  rpy: [32.17540741710854, 6.286994362240994, -95.95484696000271]
  scale: 1.0