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: [91.06686267856797, -0.2367407196067259, -3.175083919697261]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_043
  xyz: [0.0029353920836001635, 0.24146291613578796, 0.38812699913978577]
  rpy: [2.1577611984422815, 12.65881068318951, -113.72382864047269]
  scale: 1.0