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: [-0.0037507142405956984, -0.004156182985752821, 0.32276782393455505]
  rpy: [0.010688889946893538, 0.5148454101454814, 89.41331158565512]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_037
  xyz: [-0.09623250365257263, -0.07341901957988739, 0.3441675007343292]
  rpy: [86.58679272824443, -81.12658594944499, 139.542222156535]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_045
  xyz: [0.2838536202907562, 0.31409719586372375, 0.3719744384288788]
  rpy: [-132.1439040090126, 29.913809468689, 14.791867420354771]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_043
  xyz: [-0.013405686244368553, 0.040272872895002365, 0.3548545241355896]
  rpy: [-88.87983508333473, -11.959299993661357, -6.250697089002496]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_038
  xyz: [-0.011458730325102806, -0.27077150344848633, 0.3677452504634857]
  rpy: [-89.87748660374487, 12.08830453472621, -4.960895766091626]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_031
  xyz: [0.09394173324108124, 0.2672605514526367, 0.35126253962516785]
  rpy: [-89.97203283263026, -0.5664221321337167, -1.5507725137427217]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_045
  xyz: [0.17284396290779114, 0.390241414308548, 0.3793126344680786]
  rpy: [-113.54610583721045, 20.490106787037554, 73.69556225096238]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_038
  xyz: [0.3283398747444153, 0.32785892486572266, 0.35967588424682617]
  rpy: [-24.455213333886924, 86.93198990999586, 118.04704025508849]
  scale: 1.0