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/sofa/sofa_013
  xyz: [-0.0032460284419357777, -0.00369087397120893, 0.35076382756233215]
  rpy: [89.41332719353237, 0.00663328611584828, -0.5147932665635238]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_106
  xyz: [-0.1218186765909195, 0.18863581120967865, 0.3962629437446594]
  rpy: [-7.348980511254663, -50.78384219720765, -100.59773502386899]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_055
  xyz: [0.22939898073673248, 0.057770904153585434, 0.4151173233985901]
  rpy: [8.13925496553534, 3.8097847484103964, -89.83230930912143]
  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_028
  xyz: [0.07119832187891006, 0.455832839012146, 0.3781611919403076]
  rpy: [-87.22314029419529, -19.98907491277943, -95.92340873693242]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_104
  xyz: [0.14066673815250397, -0.11371515691280365, 0.3865549862384796]
  rpy: [0.018879564521758395, 7.107114777743584, -93.21194383248462]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_029
  xyz: [0.2364291101694107, 0.4693015217781067, 0.3843846619129181]
  rpy: [173.81647288939607, -7.1116277511783785, -83.3229470030156]
  scale: 1.0

- object_id: active_perception/omni_objects/corn/corn_029
  xyz: [0.08938850462436676, 0.3631565272808075, 0.3928191661834717]
  rpy: [-25.57363980974706, 5.640878993541535, -89.19846816919838]
  scale: 1.0