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: [0.012498665601015091, 0.023541001603007317, 0.39406082034111023]
  rpy: [93.26014294594617, -0.3360010588144796, 1.9662529233661101]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_126
  xyz: [0.03056909516453743, 0.10581869632005692, 0.4435102641582489]
  rpy: [4.882483224615528, -3.7982204255643763, -71.5869750214692]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_061
  xyz: [0.04115285724401474, -0.0451841838657856, 0.4542439877986908]
  rpy: [125.26260212741069, 25.949322870528686, -103.11093435970041]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_041
  xyz: [0.17666970193386078, -0.02837209776043892, 0.45827609300613403]
  rpy: [-91.66016115295724, -36.575717598646115, -86.34517919109858]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_040
  xyz: [0.0027937614358961582, -0.013012837618589401, 0.45666924118995667]
  rpy: [86.22472333669862, 39.542063462259655, -74.57221663926299]
  scale: 1.0