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: [0.004916819278150797, -0.000505681149661541, 0.14613819122314453]
  rpy: [2.7693045409334935, 0.18571154800065423, 90.65001770149219]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_055
  xyz: [-0.05862351134419441, 0.06811176985502243, 0.26993995904922485]
  rpy: [66.49250292806498, -41.977088883163596, -9.01350013034243]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_045
  xyz: [0.07067541778087616, 0.0996980220079422, 0.23593519628047943]
  rpy: [92.89693368945893, -87.65023983875092, 167.44355414095133]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_044
  xyz: [-0.008562986738979816, -0.016804523766040802, 0.24081458151340485]
  rpy: [96.48690768699167, -70.2228655756879, 89.3581631307705]
  scale: 1.0