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: [-0.0120783019810915, -0.0014937175437808037, 0.21103620529174805]
  rpy: [89.87735334220366, 0.2662981098930511, -1.9397636124908504]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_129
  xyz: [0.033869873732328415, 0.04320893809199333, 0.24441103637218475]
  rpy: [2.370045818424661, 1.6666065903415457, -51.777127236647516]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_035
  xyz: [0.1233912855386734, 0.10845216363668442, 0.2531820237636566]
  rpy: [87.45719510727933, 36.989590748827574, 0.007859549123943052]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_037
  xyz: [0.10202766954898834, -0.042230840772390366, 0.2478574961423874]
  rpy: [94.90127391427423, 48.126146003032964, -83.84011249320257]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_054
  xyz: [0.06915216892957687, -0.0997173860669136, 0.24639447033405304]
  rpy: [-178.73950395354365, -3.5807946056889723, -119.33426794070667]
  scale: 1.0