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: [-0.025585917755961418, 0.003834121860563755, 0.3471461534500122]
  rpy: [90.60633287638903, -0.08819665497977904, -4.373387853895643]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_063
  xyz: [0.3229166269302368, 0.175261989235878, 0.41336315870285034]
  rpy: [70.15190891693476, -2.372499304205413, -83.20478397859237]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_035
  xyz: [0.4137435257434845, 0.0207673292607069, 0.411308228969574]
  rpy: [60.00588570789653, 62.85890429036961, -145.96734935372018]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_061
  xyz: [0.4478986859321594, -0.1251043975353241, 0.39752569794654846]
  rpy: [-0.2665399739273817, -13.59259308109541, -99.33354609159332]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_056
  xyz: [0.02616669423878193, -0.04531857371330261, 0.3971235454082489]
  rpy: [-171.03961976454113, -20.140522267821783, -15.690897695210682]
  scale: 1.0

- object_id: active_perception/omni_objects/knife/knife_031
  xyz: [0.2902570068836212, 0.051976531744003296, 0.4043921232223511]
  rpy: [-118.9114173291099, 69.44371358136875, -61.295901073587146]
  scale: 1.0