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: [0.010664074681699276, 0.020448263734579086, 0.4091029167175293]
  rpy: [92.97093734101004, -0.04884820727236858, 1.5842161428639592]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_041
  xyz: [0.14157499372959137, 0.06837848573923111, 0.45753008127212524]
  rpy: [104.49301179796946, 77.9291075470477, -92.39404214367025]
  scale: 1.0

- object_id: active_perception/omni_objects/waffle/waffle_040
  xyz: [0.06160156801342964, -0.06595727056264877, 0.5067546963691711]
  rpy: [-3.5191262452420777, -2.77226243988671, -91.98865131683354]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_130
  xyz: [0.08695809543132782, 0.0459015890955925, 0.4618791341781616]
  rpy: [2.5747144619457534, -5.612481083089646, -138.07886061200435]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_039
  xyz: [0.03341188281774521, 0.15658074617385864, 0.46781012415885925]
  rpy: [-159.28981115173428, 21.84539131427876, -178.53432576323368]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_120
  xyz: [-0.04201623797416687, -0.017723824828863144, 0.46868354082107544]
  rpy: [3.9301918344164615, 0.750237593705135, -178.99195118072814]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_031
  xyz: [0.1552288681268692, 0.032303374260663986, 0.4785638749599457]
  rpy: [35.12427640492834, -2.5503302963541885, -90.12237480531233]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_067
  xyz: [-0.01007455587387085, 0.01970783621072769, 0.47239771485328674]
  rpy: [19.7003811457463, -6.8349937013929205, -83.8781277563059]
  scale: 1.0