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: [-0.01575320027768612, 0.008740640245378017, 0.3198183476924896]
  rpy: [0.014347020398924614, 2.6903408335530603, 91.44011056472787]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_046
  xyz: [0.26526331901550293, -0.13366401195526123, 0.38098493218421936]
  rpy: [-165.0358051677985, 24.09923779164464, 168.01393947674654]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_038
  xyz: [0.3951660394668579, -0.18028834462165833, 0.3760699927806854]
  rpy: [-99.64019542939522, 15.11601049494909, 27.655786271042118]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_030
  xyz: [0.3429194688796997, -0.07913658022880554, 0.3708280920982361]
  rpy: [-89.87092805308534, 3.1395967434164147, 4.441158929906474]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_044
  xyz: [0.3559272289276123, -0.05270551145076752, 0.3846929371356964]
  rpy: [-90.04696251384766, -1.9891615865934977, -8.553796330370508]
  scale: 1.0