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: [91.4385235655216, -0.05324638576350546, -2.6898524851743404]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_046
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  rpy: [-161.21233719992833, 19.405181401270298, 159.2277559688307]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_038
  xyz: [0.3951660394668579, -0.18028834462165833, 0.3760699927806854]
  rpy: [9.94887309702772, -29.754482840087814, -100.73210187837769]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_030
  xyz: [0.3429194688796997, -0.07913658022880554, 0.3708280920982361]
  rpy: [3.1495984611084675, -4.434078551979079, -89.8707348845802]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_044
  xyz: [0.3559272289276123, -0.05270551145076752, 0.3846929371356964]
  rpy: [-1.9821014659327283, 8.555423528558084, -90.04746235596822]
  scale: 1.0