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: [-0.041821097576549185, 4.374075816986653, 90.60810340893191]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_063
  xyz: [0.3229166269302368, 0.175261989235878, 0.41336315870285034]
  rpy: [-70.91822911282091, 68.80031396197346, 20.26453223002884]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_035
  xyz: [0.4137435257434845, 0.0207673292607069, 0.411308228969574]
  rpy: [-112.37204232499069, 6.663967661182197, -76.7263414446688]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_061
  xyz: [0.4478986859321594, -0.1251043975353241, 0.39752569794654846]
  rpy: [-99.07503217111156, 1.9211743346813532, 13.461261032685417]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_056
  xyz: [0.02616669423878193, -0.04531857371330261, 0.3971235454082489]
  rpy: [19.42687150826003, 16.578242155620554, -165.37891389949786]
  scale: 1.0

- object_id: active_perception/omni_objects/knife/knife_031
  xyz: [0.2902570068836212, 0.051976531744003296, 0.4043921232223511]
  rpy: [10.214654629351609, -80.13323649138277, -172.15758055868673]
  scale: 1.0