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/table/table_026
  xyz: [3.191409632563591e-06, 2.6293564587831497e-05, 0.3778645992279053]
  rpy: [-0.006634655019742087, 2.6731243312507736e-06, 89.99998068115259]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_112
  xyz: [-0.10926023870706558, 0.20821580290794373, 0.696517288684845]
  rpy: [-90.09845783805417, 4.106243944969388, 3.253683164813596]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_044
  xyz: [-0.20599547028541565, -0.07130728662014008, 0.6982414722442627]
  rpy: [74.72665258145905, 81.2837601944403, 84.67677717840004]
  scale: 1.0

- object_id: active_perception/omni_objects/bowl/bowl_015
  xyz: [0.17030444741249084, -0.08362076431512833, 0.7324205040931702]
  rpy: [-94.8579081668239, -3.030367069528977, 127.50681013121682]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_116
  xyz: [-0.0042854007333517075, 0.19265438616275787, 0.7114707827568054]
  rpy: [-89.34530096220217, -6.957539050639126, 1.659151790697728]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_059
  xyz: [-0.06409760564565659, 0.0998007208108902, 0.7298434972763062]
  rpy: [-95.74997873133239, 6.110008637146774, 20.063953958085083]
  scale: 1.0