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: [-0.002655904972925782, 0.00458406051620841, 0.14613822102546692]
  rpy: [1.9389315179170472, 0.18568932750203657, 90.65005297667534]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_030
  xyz: [0.049081552773714066, 0.1008647084236145, 0.23583835363388062]
  rpy: [-85.35436461688725, 7.12244403188946, 88.66828797151314]
  scale: 1.0