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_029
  xyz: [0.0010277023538947105, -0.013396093621850014, 0.47130998969078064]
  rpy: [88.58326437921104, 0.48050427379070004, 0.2627282167375067]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_045
  xyz: [-0.056289270520210266, 0.03806056082248688, 0.45801714062690735]
  rpy: [84.282758918237, 60.95015226140716, -72.90806051391321]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_104
  xyz: [0.14116813242435455, 0.04091213271021843, 0.4657316505908966]
  rpy: [36.170440316672156, 11.273174168580942, -58.07033899869683]
  scale: 1.0

- object_id: active_perception/omni_objects/bowl/bowl_015
  xyz: [0.23891527950763702, -0.14628931879997253, 0.4859206974506378]
  rpy: [96.06721688551289, -87.9837725585805, 7.486345475353049]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_036
  xyz: [0.12786836922168732, 0.10203122347593307, 0.487877756357193]
  rpy: [107.63817148910768, 5.791752741272901, -76.4770613499017]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_130
  xyz: [-0.021651890128850937, -0.046081751585006714, 0.4541776180267334]
  rpy: [-1.134115963391532, -3.24662017671342, -89.96469376242742]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_031
  xyz: [0.23852810263633728, -0.03745409846305847, 0.4728942811489105]
  rpy: [3.511003535729737, 7.405466775720374, -90.65562772808728]
  scale: 1.0