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: [0.008162887766957283, 0.018813740462064743, 0.3371417820453644]
  rpy: [92.55195197381623, -0.4922072991368359, 1.1783998121949502]
  scale: 1.0

- object_id: active_perception/omni_objects/waffle/waffle_040
  xyz: [0.17193461954593658, 0.11782585084438324, 0.38776764273643494]
  rpy: [105.89775768931447, -12.983071305608979, -69.91283803016387]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_031
  xyz: [0.0420956127345562, 0.014342186972498894, 0.4140152037143707]
  rpy: [65.84803382828443, -0.2857908314932009, -72.6818624043895]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_037
  xyz: [0.12302806973457336, 0.11676988005638123, 0.3848040997982025]
  rpy: [99.77913965986778, 2.5608511654079265, -82.63570279956188]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_039
  xyz: [0.004537677392363548, -0.07754446566104889, 0.4074309766292572]
  rpy: [-79.543955058248, -25.7286105331244, -88.28759099025267]
  scale: 1.0