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: [-0.003976470325142145, -0.0010194857604801655, 0.27490031719207764]
  rpy: [89.4845497438023, 0.4448337823918713, -0.6621906238288734]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_060
  xyz: [-0.013236919417977333, 0.01290014199912548, 0.2993946969509125]
  rpy: [-12.535551424752645, -12.356384855651747, -81.9478969566584]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_129
  xyz: [0.07053572684526443, -0.059165842831134796, 0.2803660035133362]
  rpy: [9.476347209609397, 8.672664698032895, -59.226684718639916]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_029
  xyz: [-0.02488316223025322, 0.02574106864631176, 0.2751932442188263]
  rpy: [-117.75465183892753, -11.521941714153058, -101.85531250890469]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_046
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  rpy: [9.337481650117914, 59.81243080940774, -95.99939713854025]
  scale: 1.0

- object_id: active_perception/omni_objects/corn/corn_031
  xyz: [0.053746532648801804, -0.019188517704606056, 0.29528748989105225]
  rpy: [-7.541158819478451, 6.924651658251638, -81.03508427929377]
  scale: 1.0

- object_id: active_perception/omni_objects/carrot/carrot_040
  xyz: [-0.03715364634990692, -0.014147231355309486, 0.28027451038360596]
  rpy: [38.432741034806334, -8.549101460998308, -80.05146112554144]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_039
  xyz: [0.10257524996995926, -0.09158545732498169, 0.3013342320919037]
  rpy: [163.7329652642459, 55.51969823369579, 15.725140366145565]
  scale: 1.0