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: [-0.002499799244105816, -0.0040199714712798595, 0.05981079861521721]
  rpy: [86.87260793784068, 0.09837735384649285, -1.9480028191686196]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_114
  xyz: [0.046353355050086975, 0.0010274189990013838, 0.012426573783159256]
  rpy: [5.949110305776419, -0.41820755143106847, -91.61866925807597]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_056
  xyz: [-0.008877148851752281, -0.026806574314832687, 0.007808098569512367]
  rpy: [-0.40261082585401486, -2.7248296266595684, -144.8816495468273]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_130
  xyz: [0.016918271780014038, 0.034683600068092346, 0.032000020146369934]
  rpy: [-51.957209238803735, -17.880643435888306, -77.96875554271273]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_048
  xyz: [-0.04792362451553345, 0.0031698031816631556, 0.02673095464706421]
  rpy: [-28.391220610462565, -10.543275423936647, -62.54255409201961]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_030
  xyz: [-0.051498763263225555, 0.030392220243811607, 0.012239719741046429]
  rpy: [-116.85051001440723, -32.161284770640684, -99.43713748796755]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_031
  xyz: [-0.0034314030781388283, 0.001957784639671445, 0.020948240533471107]
  rpy: [65.06037346584932, -15.22420893935603, 62.69239807245401]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_042
  xyz: [0.054778847843408585, 0.0191811490803957, 0.04256262257695198]
  rpy: [69.49730678704555, -40.89990072171502, 8.474426079401633]
  scale: 1.0