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_027
  xyz: [0.012478331103920937, 0.023591354489326477, 0.3941042125225067]
  rpy: [93.28077103824077, -0.32223253753626113, 1.9631192035203073]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_031
  xyz: [-0.059644922614097595, 0.009799901396036148, 0.4570856988430023]
  rpy: [-0.7715682161957816, -4.044231493982649, -55.30705506733739]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_029
  xyz: [-0.01985994353890419, 0.08383921533823013, 0.474084734916687]
  rpy: [-1.4979320396104236, -5.238185054936987, -90.29570861576954]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_039
  xyz: [-0.0023786902893334627, 0.011469738557934761, 0.4709773063659668]
  rpy: [90.62054737281089, -57.015465053086835, -34.784743093705174]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_118
  xyz: [0.11545368283987045, -0.07257583737373352, 0.4530535936355591]
  rpy: [1.0101600525437913, -5.066586123419874, -56.42657671322173]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_055
  xyz: [0.05363892763853073, -0.022680124267935753, 0.4885134696960449]
  rpy: [7.6732937630029046, 1.2012659403576993, -68.51722472783042]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_130
  xyz: [0.07856171578168869, 0.09975654631853104, 0.44260814785957336]
  rpy: [5.177650243620416, -6.779925452810348, -90.12135643515877]
  scale: 1.0