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
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  rpy: [90.60698635161495, -0.08984068337043996, -4.371787396711909]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_051
  xyz: [0.39130184054374695, 0.030214229598641396, 0.4278244376182556]
  rpy: [-5.0325662196043615, 2.2261666033277314, -90.11739351969133]
  scale: 1.0

- object_id: active_perception/omni_objects/garlic/garlic_032
  xyz: [0.4070506691932678, -0.29396551847457886, 0.3995043635368347]
  rpy: [-14.788601179542578, 2.7189742315947076, -94.61421721797326]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_039
  xyz: [0.3800676465034485, 0.09400419145822525, 0.4154616594314575]
  rpy: [-8.036656558644498, -8.806731499387274, -89.78032960818115]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_028
  xyz: [0.41644561290740967, -0.1611308455467224, 0.40492063760757446]
  rpy: [-28.220161346340575, 82.26131510873947, -103.28397375667157]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_040
  xyz: [0.4085729420185089, 0.07318294793367386, 0.40368252992630005]
  rpy: [153.90891420016905, -18.74651175735615, 77.90652991230719]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_039
  xyz: [0.3264743387699127, 0.07039090245962143, 0.41117754578590393]
  rpy: [0.20210729786540713, -6.749041575533519, -89.06060516956013]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_123
  xyz: [0.3109615445137024, -0.06372343003749847, 0.40079909563064575]
  rpy: [-0.8891579688121672, 5.989750720935528, -90.08437784903306]
  scale: 1.0