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: [-0.01783144474029541, 0.007134719751775265, 0.2994767129421234]
  rpy: [-0.17752187275479822, 3.1789408631649594, 91.0684979503199]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_043
  xyz: [0.0029353920836001635, 0.24146291613578796, 0.38812699913978577]
  rpy: [-113.14844833001484, -3.074607496363099, -12.470845229554469]
  scale: 1.0