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: [-0.022231895476579666, 0.00562908872961998, 0.33978521823883057]
  rpy: [90.9253376761551, -0.07129948489705386, -3.8371515229810207]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_038
  xyz: [0.3185400068759918, -0.14187538623809814, 0.40157249569892883]
  rpy: [13.209647880468573, -17.672458836365855, -88.25388476266194]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_129
  xyz: [0.4304436445236206, -0.00019813234393950552, 0.3892529010772705]
  rpy: [3.7711752353844648, -15.78063591396137, -89.59828725657687]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_035
  xyz: [0.31354451179504395, 0.004840207286179066, 0.40115347504615784]
  rpy: [-42.904708980308854, 71.57008255649853, -49.19887128621555]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_130
  xyz: [0.4132820963859558, -0.16253328323364258, 0.3953234851360321]
  rpy: [-0.4172501856122001, -10.09554942690867, -90.42529447667796]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_038
  xyz: [0.23649881780147552, 0.2673048675060272, 0.3632514178752899]
  rpy: [109.55755968672271, 9.789011772798158, -89.89996930967006]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_031
  xyz: [0.35573267936706543, -0.12371890246868134, 0.41807106137275696]
  rpy: [7.071430515798922, 5.2930677311491845, -89.55575262412479]
  scale: 1.0