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: [-0.003508185036480427, -0.0004306584596633911, 0.297487735748291]
  rpy: [89.7011390030185, -0.0897847531471609, -0.8288821174814519]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_039
  xyz: [-0.043056730180978775, 0.06958190351724625, 0.3120899498462677]
  rpy: [28.776871057913635, -41.543391310169994, -98.38050786002823]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_045
  xyz: [0.0421561598777771, -0.04750030115246773, 0.2979702949523926]
  rpy: [96.10255374351406, 14.968774686427258, -86.63924687040792]
  scale: 1.0

- object_id: active_perception/omni_objects/ginger/ginger_036
  xyz: [-0.009224501438438892, -0.05255249887704849, 0.3122490346431732]
  rpy: [-68.18264793327644, -15.72234930755319, -90.30711711424446]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_056
  xyz: [0.08821800351142883, 0.03532162308692932, 0.3235689103603363]
  rpy: [-15.557590951661743, 12.391354277251372, -98.44731674382682]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_036
  xyz: [-0.006728057749569416, 0.013279100880026817, 0.32789507508277893]
  rpy: [-43.31982133157227, 20.926012348416766, -74.08890233171431]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_039
  xyz: [0.15791907906532288, 0.008880577981472015, 0.31369224190711975]
  rpy: [-95.35786890822241, -37.26548572149497, -100.98191079979964]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_130
  xyz: [0.04810537397861481, -0.08197561651468277, 0.3111250400543213]
  rpy: [-8.69277109365681, 3.5503550410735176, -83.34106647299377]
  scale: 1.0