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: [-0.0030416434165090322, -0.0035518710501492023, 0.3673894703388214]
  rpy: [89.41333143927791, 0.010809734359254903, -0.5147611150394822]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_034
  xyz: [0.15486076474189758, 0.4666982591152191, 0.4205235540866852]
  rpy: [-75.605574207873, -1.1664820932483277, -90.9279093355709]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_046
  xyz: [-0.0069602131843566895, 0.3294065594673157, 0.40776851773262024]
  rpy: [37.01676538873029, 26.639786677664592, -80.9358602377986]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_039
  xyz: [0.355564683675766, -0.33841440081596375, 0.4255219101905823]
  rpy: [-172.24535795983158, 52.50408286809332, -22.815334673152773]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_041
  xyz: [-0.12134931981563568, 0.08505426347255707, 0.38850870728492737]
  rpy: [-1.772690616459019, 79.50609768000282, -71.6601005783997]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_130
  xyz: [0.1612061709165573, -0.0816158801317215, 0.3942036032676697]
  rpy: [-0.3682497898135311, -1.4642268773812788, -89.98062285185195]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_124
  xyz: [0.23894286155700684, 0.4756412208080292, 0.3840479552745819]
  rpy: [-170.23666513488135, 1.4564224202923226, 62.36799995889]
  scale: 1.0