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: [0.008757415227591991, 0.019378365948796272, 0.3371662199497223]
  rpy: [-0.501188094496758, -1.1719943272263942, 92.56623867920328]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_044
  xyz: [0.12198963761329651, 0.04794576019048691, 0.4125376045703888]
  rpy: [-56.48933824756963, 63.5466379613911, 132.50430566906792]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_031
  xyz: [0.03452117741107941, 0.07758693397045135, 0.39187130331993103]
  rpy: [-88.90249420340523, 20.03128436837397, 1.7245882207341114]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_124
  xyz: [-0.02004414051771164, 0.00656987726688385, 0.3966212272644043]
  rpy: [-85.23157197746396, -32.393176010449075, -1.635491844517498]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_056
  xyz: [-0.006364216096699238, 0.036551304161548615, 0.39061439037323]
  rpy: [-88.21117817408268, 6.621935757753438, 4.531955713748146]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_127
  xyz: [0.10764497518539429, 0.07529450207948685, 0.38561779260635376]
  rpy: [122.00782388688657, 4.056140706006609, 176.75370194095797]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_047
  xyz: [0.10008244216442108, -0.07659097015857697, 0.4002908766269684]
  rpy: [-95.09469640739704, 14.388451354688629, -8.602202158992776]
  scale: 1.0