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: [0.012179693207144737, 0.02302008867263794, 0.37148430943489075]
  rpy: [93.16409241679933, -0.2845827921611966, 1.8638973792929274]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_046
  xyz: [0.00507152546197176, -0.012590482831001282, 0.4487641453742981]
  rpy: [-30.859256166493946, -8.518735053139679, -69.53960422938385]
  scale: 1.0