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: [0.010518450289964676, 0.020725751295685768, 0.4148634076118469]
  rpy: [92.99859801581725, -0.16287018498341643, 1.6083854410189207]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_038
  xyz: [0.02299380674958229, -0.12437674403190613, 0.47560665011405945]
  rpy: [-106.95536285243945, -35.56618632649026, -104.71298122530612]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_040
  xyz: [0.08024895191192627, 0.15819312632083893, 0.45979124307632446]
  rpy: [84.66737631820857, 56.06261564437876, -68.54040473484042]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_030
  xyz: [0.1010628417134285, 0.11205171793699265, 0.4612550139427185]
  rpy: [146.71625491592022, 17.34830776253904, 83.5217148359253]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_044
  xyz: [0.08991983532905579, 0.010868328623473644, 0.5064496994018555]
  rpy: [1.7095054029764791, -1.6040324292953339, -86.58265865601916]
  scale: 1.0

- object_id: active_perception/omni_objects/bowl/bowl_015
  xyz: [0.045877762138843536, 0.02568945661187172, 0.5692135691642761]
  rpy: [-4.880679075179346, -4.696208896315149, -75.73967253532872]
  scale: 1.0