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: [0.008757415227591991, 0.019378365948796272, 0.3371662199497223]
  rpy: [92.5657800245494, -0.44821404605685816, 1.1932553746475334]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_044
  xyz: [0.12198963761329651, 0.04794576019048691, 0.4125376045703888]
  rpy: [-162.07797428875648, -71.55894958531262, 38.969365129395676]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_031
  xyz: [0.03452117741107941, 0.07758693397045135, 0.39187130331993103]
  rpy: [20.05894061814264, -1.34839706490534, -88.96860877735215]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_124
  xyz: [-0.02004414051771164, 0.00656987726688385, 0.3966212272644043]
  rpy: [-32.418292045723334, -0.9210144263106675, -85.97439434663991]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_056
  xyz: [-0.006364216096699238, 0.036551304161548615, 0.39061439037323]
  rpy: [6.759517170658778, -4.3235232544451865, -88.21804319796702]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_127
  xyz: [0.10764497518539429, 0.07529450207948685, 0.38561779260635376]
  rpy: [178.28206939911863, 4.901941763893248, -122.04927107554747]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_047
  xyz: [0.10008244216442108, -0.07659097015857697, 0.4002908766269684]
  rpy: [15.077344772311916, 7.305730695343209, -94.97497847447656]
  scale: 1.0