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_029
  xyz: [0.0008199149742722511, -0.01092283520847559, 0.47760605812072754]
  rpy: [0.3813446205119587, -0.2897016825504398, 88.94442866066338]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_038
  xyz: [0.26997068524360657, -0.16779960691928864, 0.45743241906166077]
  rpy: [73.45160451182159, -76.50950722227122, 95.68764260985448]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_040
  xyz: [0.15597780048847198, 0.12356695532798767, 0.47547996044158936]
  rpy: [-90.50377488629285, -10.2785466856539, 15.239124521078297]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_040
  xyz: [0.058592699468135834, -0.0789107233285904, 0.4843217730522156]
  rpy: [-147.5857804484296, -42.80927061558722, 99.56604010417023]
  scale: 1.0

- object_id: active_perception/omni_objects/corn/corn_032
  xyz: [0.11521260440349579, 0.011938262730836868, 0.4791303873062134]
  rpy: [-92.81611860102198, -25.95073671534537, -2.0542574079779876]
  scale: 1.0