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/cabinet/cabinet_009
  xyz: [0.006707167252898216, -0.00978370476514101, 0.3974125385284424]
  rpy: [0.009930066780556862, -0.9392172848046143, 88.62478801586161]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_106
  xyz: [-0.09353232383728027, 0.07713813334703445, 0.8577260375022888]
  rpy: [-82.69963581346079, -1.7758409407158438, 3.3338604880945044]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_114
  xyz: [-0.0009755418286658823, 0.0800495445728302, 0.8618637919425964]
  rpy: [-89.04469212306496, 0.31543447476951847, -179.97251505249787]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_127
  xyz: [0.038756705820560455, 0.14457708597183228, 0.8597614169120789]
  rpy: [89.43610090729494, 5.433446752949853, -179.68463447172866]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_067
  xyz: [0.07290107011795044, 0.05052472651004791, 0.884907066822052]
  rpy: [178.89054881180132, -13.622814653242015, 101.00635532572828]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_031
  xyz: [-0.09321307390928268, -0.025698160752654076, 0.8609084486961365]
  rpy: [102.98584847911462, 24.651252212165268, 177.60664710297723]
  scale: 1.0

- object_id: active_perception/omni_objects/corn/corn_030
  xyz: [0.13197773694992065, -0.0023060599341988564, 0.8761539459228516]
  rpy: [-85.23387704348053, 41.056884370506594, -2.3535542589646727]
  scale: 1.0