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_026
  xyz: [-0.007875494658946991, 0.0005903143901377916, 0.25563710927963257]
  rpy: [-0.028142134166678448, 1.9813921683193423, 89.92520738196606]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_035
  xyz: [0.09641721844673157, -0.09776753932237625, 0.30564993619918823]
  rpy: [-113.29871146483492, -1.2253500310666376, -71.53741195057908]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_050
  xyz: [0.0564885213971138, -0.05319371074438095, 0.31574031710624695]
  rpy: [-86.71296364501274, 13.2974173637656, -6.347184748511395]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_107
  xyz: [-0.04454685375094414, -0.012621539644896984, 0.2919691205024719]
  rpy: [-90.03871081703582, 2.008297110646814, 0.0997718720100435]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_103
  xyz: [0.0697580873966217, 0.0063666896894574165, 0.28778767585754395]
  rpy: [-96.8049928108853, -0.3074170236521529, -1.9588793228588381]
  scale: 1.0