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_029
  xyz: [0.0008199149742722511, -0.01092283520847559, 0.47760605812072754]
  rpy: [88.944419430143, 0.3759430001607484, 0.29667771898204115]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_038
  xyz: [0.26997068524360657, -0.16779960691928864, 0.45743241906166077]
  rpy: [96.90023231887517, 78.90491408303902, 69.80104050661566]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_040
  xyz: [0.15597780048847198, 0.12356695532798767, 0.47547996044158936]
  rpy: [-10.413138102069349, -15.148651282717275, -90.51353531199554]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_040
  xyz: [0.058592699468135834, -0.0789107233285904, 0.4843217730522156]
  rpy: [-98.97508539549818, -38.6029166063126, -142.41836391465003]
  scale: 1.0

- object_id: active_perception/omni_objects/corn/corn_032
  xyz: [0.11521260440349579, 0.011938262730836868, 0.4791303873062134]
  rpy: [-25.83260304290134, 3.2841757732971337, -92.53614363580493]
  scale: 1.0