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_028
  xyz: [2.551823854446411e-07, -1.862645149230957e-09, 0.28144803643226624]
  rpy: [90.00001931869, 2.0925831583417338e-05, 5.486438683640663e-06]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_117
  xyz: [-0.02294354885816574, 0.14540855586528778, 0.3788658082485199]
  rpy: [2.50643986386678, -8.090741813058841, -87.88011011215893]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_037
  xyz: [-0.1580510139465332, 0.27412310242652893, 0.3994295001029968]
  rpy: [-10.813727689430792, -24.11463048988075, -94.9583561102532]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_033
  xyz: [-0.10964617133140564, 0.1173204705119133, 0.41891708970069885]
  rpy: [-131.88476833435993, -19.535881717039796, -114.57025106135183]
  scale: 1.0

- object_id: active_perception/omni_objects/waffle/waffle_041
  xyz: [-0.08466582745313644, 0.34169790148735046, 0.3902488350868225]
  rpy: [-91.8175067811735, 4.658095165567859, -90.82666564127862]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_045
  xyz: [0.08150611817836761, 0.13531990349292755, 0.39605313539505005]
  rpy: [29.893440112750447, -13.32683140310533, -85.79455010638053]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_116
  xyz: [0.11997456848621368, -0.008004352450370789, 0.390927791595459]
  rpy: [-14.782795312063767, 4.00115542185958, -88.77986670575572]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_059
  xyz: [-0.12502136826515198, -0.17549794912338257, 0.4197307527065277]
  rpy: [-126.47374727789662, -2.4584454943107743, -93.1330018906127]
  scale: 1.0