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: [0.010605523362755775, 0.020392291247844696, 0.409040629863739]
  rpy: [-0.12730045523684103, -1.5689536705273486, 92.96182049299054]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_042
  xyz: [0.07116808742284775, -0.1289406418800354, 0.4671841561794281]
  rpy: [74.7715660525354, -69.92339819615889, 71.53166079207978]
  scale: 1.0