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_011
  xyz: [-0.0002668430097401142, 0.0009489087387919426, 0.08126553893089294]
  rpy: [90.65002787537001, 0.004632307658611508, -0.18574216762566018]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_037
  xyz: [-0.07262837886810303, 0.11253691464662552, 0.1817278414964676]
  rpy: [-88.65642702999706, 58.98338942478907, 139.4313044804319]
  scale: 1.0

- object_id: active_perception/omni_objects/watch/watch_015
  xyz: [0.029746659100055695, -0.1018780991435051, 0.1753530353307724]
  rpy: [2.17389971557482, -3.644253962391141, -167.9555982875637]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_038
  xyz: [0.0516001433134079, 0.11836016178131104, 0.17318366467952728]
  rpy: [-95.9490015150163, -15.549053125642644, 90.13689044781522]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_038
  xyz: [-0.011593274772167206, 0.0644584596157074, 0.18564075231552124]
  rpy: [-123.02872522262412, 80.44258735623706, 30.40460626213988]
  scale: 1.0

- object_id: active_perception/omni_objects/ginger/ginger_040
  xyz: [0.011217919178307056, 0.01741693913936615, 0.17843449115753174]
  rpy: [-2.2214719461002677, -4.1009467668708925, -76.26263542453108]
  scale: 1.0