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_026
  xyz: [-0.010007976554334164, -0.0005495697259902954, 0.23304176330566406]
  rpy: [0.10411447308654097, 1.9458887320265992, 89.88378148564072]
  scale: 1.0

- object_id: active_perception/omni_objects/watch/watch_013
  xyz: [-0.06250542402267456, 0.060703568160533905, 0.2812367081642151]
  rpy: [106.99601960898981, 6.962171768335496, 0.8720561777736926]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_030
  xyz: [-0.03689372539520264, 0.09469156712293625, 0.2692623436450958]
  rpy: [-26.095347405710992, 0.9373374310422529, 90.39311804017495]
  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_029
  xyz: [-0.053646646440029144, -0.0024876846000552177, 0.29210302233695984]
  rpy: [-46.48931275893863, -13.393655744260094, 51.18659155159045]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_030
  xyz: [0.026345646008849144, 0.010835841298103333, 0.264462411403656]
  rpy: [88.82412101134727, 60.817414793356704, -176.4925612066329]
  scale: 1.0

- object_id: active_perception/omni_objects/waffle/waffle_041
  xyz: [0.012116163037717342, -0.12023772299289703, 0.28635793924331665]
  rpy: [49.963720293510605, -60.066780280447844, -87.04982094615193]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_037
  xyz: [0.05550888180732727, -0.10812458395957947, 0.28077465295791626]
  rpy: [-89.82708769666338, -14.402065771399155, -4.681175194747731]
  scale: 1.0

- object_id: active_perception/omni_objects/soap/soap_037
  xyz: [0.04986763000488281, -0.03142603859305382, 0.2666603922843933]
  rpy: [-1.3677905195631856, 8.241853362254297, -84.21688023054544]
  scale: 1.0