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: [0.006895285099744797, -0.009901405312120914, 0.41437849402427673]
  rpy: [88.61170104313348, -0.0012452671963751926, 0.96061424586726]
  scale: 1.0

- object_id: active_perception/omni_objects/garlic/garlic_032
  xyz: [0.044511351734399796, -0.0606166273355484, 0.8758591413497925]
  rpy: [-2.5902687296795555, -0.7430674132119086, -115.76393197164248]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_062
  xyz: [0.16271893680095673, 0.04041002318263054, 0.8998929858207703]
  rpy: [96.67984611893803, -33.54633964018034, -68.12028732984554]
  scale: 1.0

- object_id: active_perception/omni_objects/soap/soap_037
  xyz: [-0.12293203175067902, 0.04082437604665756, 0.8772732019424438]
  rpy: [-97.58145050438513, -23.614835293615798, 175.66935822478314]
  scale: 1.0