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_026
  xyz: [-0.0120783019810915, -0.0014937175437808037, 0.21103620529174805]
  rpy: [0.2621437246110062, 1.9403291988260754, 89.87728430544016]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_129
  xyz: [0.033869873732328415, 0.04320893809199333, 0.24441103637218475]
  rpy: [-51.738656115073375, 2.892768397395704, 0.15818498941784478]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_035
  xyz: [0.1233912855386734, 0.10845216363668442, 0.2531820237636566]
  rpy: [36.962747363820874, 1.52175411928544, 87.96847241538775]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_037
  xyz: [0.10202766954898834, -0.042230840772390366, 0.2478574961423874]
  rpy: [66.47823451720082, 79.66137374963044, 108.52853144660017]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_054
  xyz: [0.06915216892957687, -0.0997173860669136, 0.24639447033405304]
  rpy: [119.31128115816075, -2.8526399023003393, -177.49470473810212]
  scale: 1.0