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_025
  xyz: [0.0005137072876095772, 0.0019848868250846863, 0.2338661551475525]
  rpy: [90.63614737386725, -0.1496677624148309, 0.013594005722135274]
  scale: 1.0

- object_id: active_perception/omni_objects/waffle/waffle_040
  xyz: [0.04957124590873718, -0.06646452844142914, 0.5208320617675781]
  rpy: [-90.57173655986392, 11.981882323649051, 95.23223002955743]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_030
  xyz: [-0.03159291297197342, 0.09588027745485306, 0.5164417028427124]
  rpy: [122.14389333594183, -0.6755416627781677, -87.68631271544406]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_039
  xyz: [-0.06505878269672394, 0.04120251163840294, 0.30479568243026733]
  rpy: [90.98260256304876, -26.0689101755742, -78.03848810844369]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_038
  xyz: [0.13596487045288086, -0.0666000247001648, 0.5278619527816772]
  rpy: [5.571710182579465, 2.222023617419502, -90.04886027475547]
  scale: 1.0