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/picnic/picnic_basket_010
  xyz: [-0.0021651368588209152, -0.004575260914862156, 0.08212801069021225]
  rpy: [85.95997709675261, 0.08601694635721846, -1.9309618955151853]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_028
  xyz: [-0.014145820401608944, -0.004734158981591463, 0.03655433654785156]
  rpy: [-2.27417321118117, 2.8037603349231826, -165.87152307611598]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_035
  xyz: [-0.0319422222673893, -0.037448275834321976, 0.04447242617607117]
  rpy: [-152.080622895233, -12.736381241880178, 20.656101934304086]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_037
  xyz: [0.033285778015851974, -0.062044791877269745, 0.05836709588766098]
  rpy: [145.59418733703987, -62.16487837682357, 64.7942195623331]
  scale: 1.0

- object_id: active_perception/omni_objects/waffle/waffle_041
  xyz: [0.04357355087995529, -0.04705939069390297, 0.07336008548736572]
  rpy: [-23.210250094576722, 4.10148659907714, -81.91502723843347]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_037
  xyz: [-0.009810134768486023, 0.015697576105594635, 0.05889269709587097]
  rpy: [-17.37324557497866, -4.627407300180566, -96.45214062698709]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_035
  xyz: [-0.0028318818658590317, -0.00956784002482891, 0.10770484805107117]
  rpy: [-18.118336987573887, -17.785108312012294, -95.72306453317384]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_029
  xyz: [0.059718888252973557, 0.027727458626031876, 0.04116085171699524]
  rpy: [-52.183610565437014, -71.12155488735037, -63.987481296467365]
  scale: 1.0