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: [-0.0024866957683116198, -0.004135277587920427, 0.07680420577526093]
  rpy: [86.88390931201822, 0.06710339087970359, -1.936528963192964]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_031
  xyz: [-0.01264907792210579, -0.007664970587939024, 0.03135001286864281]
  rpy: [16.9613910190363, 6.730707920400756, -92.88567356756839]
  scale: 1.0

- object_id: active_perception/omni_objects/soap/soap_037
  xyz: [0.052811041474342346, 0.007168488577008247, 0.03207935020327568]
  rpy: [89.24326263550095, 13.571505606310735, 164.97920757034274]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_043
  xyz: [0.04001154750585556, 0.017269812524318695, 0.038814179599285126]
  rpy: [82.56187735190117, -23.491871550050377, -100.19074679870687]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_041
  xyz: [-0.017490917816758156, 0.039843495935201645, 0.04326483979821205]
  rpy: [-89.00180092667793, -70.94183092144803, 153.60476640230894]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_039
  xyz: [0.01342493761330843, -0.0035354946739971638, 0.06844569742679596]
  rpy: [-41.35208758067904, -62.38415733969969, -76.11094705230899]
  scale: 1.0

- object_id: active_perception/omni_objects/garlic/garlic_032
  xyz: [-0.030405210331082344, -0.0362040139734745, 0.0383140929043293]
  rpy: [2.7050520739655157, 2.004327293550045, -94.77738118776749]
  scale: 1.0

- object_id: active_perception/omni_objects/garlic/garlic_033
  xyz: [-0.06327944993972778, -0.03211160749197006, 0.04982692375779152]
  rpy: [-9.712795554168896, 6.660681683946238, 34.94949625760033]
  scale: 1.0