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_027
  xyz: [-0.0006448607891798019, 0.001766100525856018, 0.5201078057289124]
  rpy: [90.13117468767811, -0.1512908360475269, 0.12114359009531557]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_040
  xyz: [-0.08927050232887268, -0.1140391007065773, 0.851281464099884]
  rpy: [100.78368463006967, -39.54624384955144, 93.44822641628292]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_115
  xyz: [-0.14044073224067688, 0.029028883203864098, 0.8513619303703308]
  rpy: [48.81217423815063, 8.021071295087687, -82.76263587506713]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_041
  xyz: [-0.1704012006521225, -0.07082629948854446, 0.8597419261932373]
  rpy: [92.11499973049801, -11.40795100543299, -99.30754215470145]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_030
  xyz: [0.1232769563794136, -0.2912765443325043, 0.876267671585083]
  rpy: [15.655216194172361, 1.0890919799149812, -90.67062588624142]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_126
  xyz: [-0.021710237488150597, -0.27190449833869934, 0.8526045680046082]
  rpy: [-92.90910252404194, 3.932198123801487, -84.46489371116742]
  scale: 1.0