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_028
  xyz: [0.10982225090265274, -0.0024874620139598846, 0.21601024270057678]
  rpy: [3.397781784616623, 7.066915743555858, 174.7350603676256]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_055
  xyz: [-0.10636552423238754, -0.03803205490112305, 0.07103585451841354]
  rpy: [-58.38443995803254, 0.2793834466454195, 2.9844635775827033]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_039
  xyz: [-0.09021461009979248, 0.022640734910964966, 0.08898279815912247]
  rpy: [-107.66197040037851, 24.551567923761638, 56.69184163050107]
  scale: 1.0