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_027
  xyz: [0.012179693207144737, 0.02302008867263794, 0.37148430943489075]
  rpy: [-0.387062228313289, -1.845347358307052, 93.16569679091832]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_046
  xyz: [0.00507152546197176, -0.012590482831001282, 0.4487641453742981]
  rpy: [-66.03429316461042, -31.669777804766845, -4.053425862514314]
  scale: 1.0