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: [-0.0012034547980874777, -0.010374171659350395, 0.00787667091935873]
  rpy: [82.15370705287218, -0.3422664137004037, -0.7267207860082523]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_114
  xyz: [0.0013321959413588047, -0.039517842233181, -0.044537197798490524]
  rpy: [6.536576441437477, 1.726938451075627, -74.90123877330932]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_037
  xyz: [-0.05189039185643196, -0.03656395152211189, -0.035525452345609665]
  rpy: [3.645253276980472, 1.7659165051347792, -102.98131261808427]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_030
  xyz: [0.05282784253358841, -0.05447458475828171, -0.037371374666690826]
  rpy: [-53.955920327306764, -6.841039249959379, -38.93967392566561]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_033
  xyz: [-0.01717827282845974, 0.0013788104988634586, -0.01840907335281372]
  rpy: [-13.598167862134966, -9.741379334046622, -82.03613397073663]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_029
  xyz: [-0.005529078654944897, -0.05693826451897621, -0.008926494978368282]
  rpy: [-104.13583446449616, -3.6752852784411583, -127.33813296558328]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_035
  xyz: [-0.03824900835752487, 0.03328312560915947, -0.006640023086220026]
  rpy: [59.25915368870394, -51.62329123533469, -102.24042972710858]
  scale: 1.0