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: [-0.004109079949557781, -0.0005391123704612255, 0.29186055064201355]
  rpy: [89.71400778304815, -0.10552856215280602, -0.8390239518713957]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_054
  xyz: [0.03123067505657673, -0.013880057260394096, 0.31161248683929443]
  rpy: [1.222527753834224, 28.306493898506464, -76.96992329451811]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_125
  xyz: [0.002126286970451474, 0.04345492273569107, 0.3073907792568207]
  rpy: [9.24757158664565, 1.299143358990979, -88.6749877274676]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_028
  xyz: [0.04149894043803215, 0.08769883215427399, 0.2969461679458618]
  rpy: [90.53946111487375, -33.92980534185026, 28.792180862395046]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_048
  xyz: [0.065407894551754, 0.05164383351802826, 0.30706658959388733]
  rpy: [65.74591318590488, 1.9700106477556019, -140.43213997715483]
  scale: 1.0

- object_id: active_perception/omni_objects/waffle/waffle_042
  xyz: [-0.04748834669589996, -0.023584259673953056, 0.3523070514202118]
  rpy: [-9.771248852136095, 33.49226596960973, -89.31547896160079]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_104
  xyz: [0.1502104252576828, -0.00234344694763422, 0.30890199542045593]
  rpy: [-3.640337492547682, 7.492456313872742, -89.69804208333579]
  scale: 1.0