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: [89.9252520924226, -0.025556161809150515, -1.9814271956435496]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_035
  xyz: [0.09641721844673157, -0.09776753932237625, 0.30564993619918823]
  rpy: [49.36539334855094, 60.910526850517876, -144.4253685829528]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_050
  xyz: [0.0564885213971138, -0.05319371074438095, 0.31574031710624695]
  rpy: [12.920102527267222, 7.0928833573587955, -86.77649015759889]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_107
  xyz: [-0.04454685375094414, -0.012621539644896984, 0.2919691205024719]
  rpy: [2.008229284999299, -0.1011284395524291, -90.03868709966477]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_103
  xyz: [0.0697580873966217, 0.0063666896894574165, 0.28778767585754395]
  rpy: [-0.07305181506703232, 1.9814999781221667, -96.80898513235496]
  scale: 1.0