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: [0.001361728831119986, 0.5148341988876908, 89.41330351181674]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_106
  xyz: [-0.1218186765909195, 0.18863581120967865, 0.3962629437446594]
  rpy: [-96.67817444796303, 0.8931657809226509, 51.16127641992971]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_055
  xyz: [0.22939898073673248, 0.057770904153585434, 0.4151173233985901]
  rpy: [-89.8309726051319, 8.15036209788317, -3.7858377002117187]
  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_028
  xyz: [0.07119832187891006, 0.455832839012146, 0.3781611919403076]
  rpy: [-139.29788621728213, -82.65024135339468, 69.15186371465782]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_104
  xyz: [0.14066673815250397, -0.11371515691280365, 0.3865549862384796]
  rpy: [-93.18730909933994, -0.37834149709074266, -7.097113894146447]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_029
  xyz: [0.2364291101694107, 0.4693015217781067, 0.3843846619129181]
  rpy: [83.3250402754949, 6.966795398855015, -173.65357063628062]
  scale: 1.0

- object_id: active_perception/omni_objects/corn/corn_029
  xyz: [0.08938850462436676, 0.3631565272808075, 0.3928191661834717]
  rpy: [-89.11631146275778, -25.492202174207744, -6.021781183396147]
  scale: 1.0