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: [89.88384829759515, 0.1080605301102307, -1.9456736683481182]
  scale: 1.0

- object_id: active_perception/omni_objects/watch/watch_013
  xyz: [-0.06250542402267456, 0.060703568160533905, 0.2812367081642151]
  rpy: [-6.9141253693496, -1.1959898036722454, 106.87071739615446]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_030
  xyz: [-0.03689372539520264, 0.09469156712293625, 0.2692623436450958]
  rpy: [90.43770363172567, -26.101117924788532, -0.7447858278459367]
  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_029
  xyz: [-0.053646646440029144, -0.0024876846000552177, 0.29210302233695984]
  rpy: [35.2654804005941, -41.68742047287452, -26.251112256917438]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_030
  xyz: [0.026345646008849144, 0.010835841298103333, 0.264462411403656]
  rpy: [119.22291239166204, -4.533870639311142, -89.42487902792126]
  scale: 1.0

- object_id: active_perception/omni_objects/waffle/waffle_041
  xyz: [0.012116163037717342, -0.12023772299289703, 0.28635793924331665]
  rpy: [-87.58234876568908, -52.496290245203085, -58.181249742154776]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_037
  xyz: [0.05550888180732727, -0.10812458395957947, 0.28077465295791626]
  rpy: [-14.415715892804469, 4.6381476345373684, -89.83197136938198]
  scale: 1.0

- object_id: active_perception/omni_objects/soap/soap_037
  xyz: [0.04986763000488281, -0.03142603859305382, 0.2666603922843933]
  rpy: [-84.27261814644648, 2.188610516517364, 8.063977443331343]
  scale: 1.0