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_014
  xyz: [-0.02558593451976776, 0.0038341358304023743, 0.34714609384536743]
  rpy: [90.6063327863545, -0.08819893704753332, -4.373391612376957]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_032
  xyz: [0.03247331827878952, -0.12638521194458008, 0.40096989274024963]
  rpy: [3.9738969894444485, -19.551070163782498, -132.14772141382218]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_028
  xyz: [0.033760931342840195, 0.30564990639686584, 0.14096935093402863]
  rpy: [-23.89348787275002, 2.5733070389571795, 39.37270914477111]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_039
  xyz: [0.33195120096206665, 0.052147045731544495, 0.41995924711227417]
  rpy: [-21.322219315282602, 25.60713918906377, -77.22568620643206]
  scale: 1.0