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: [-0.00026841554790735245, 0.0009470162913203239, 0.08126553893089294]
  rpy: [0.005535060293942521, 0.18571021035643848, 90.65001962311017]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_029
  xyz: [0.0488293319940567, -0.02867857925593853, 0.17513875663280487]
  rpy: [-92.04558988755925, -3.6894948022610987, -0.8327941975436834]
  scale: 1.0

- object_id: active_perception/omni_objects/waffle/waffle_040
  xyz: [-0.0827440544962883, -0.07048746198415756, 0.19595180451869965]
  rpy: [-92.02454920424955, -29.50848061073272, -86.93283375934178]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_041
  xyz: [0.03266752138733864, 0.0085920300334692, 0.19214293360710144]
  rpy: [-102.16817947808946, -3.659124334904798, 7.606046407901237]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_031
  xyz: [-0.013822544366121292, -0.0794711634516716, 0.17180435359477997]
  rpy: [108.90399578083722, -75.09651280061492, 176.93788488261933]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_030
  xyz: [0.06321553140878677, -0.04808836430311203, 0.17382313311100006]
  rpy: [-90.00081952883397, 0.6364704477802019, -0.18406925295482693]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_030
  xyz: [-0.035948965698480606, -0.0747358500957489, 0.172882542014122]
  rpy: [-29.03274016029016, 1.1648053504078884, -97.23896488258235]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_107
  xyz: [-0.027533018961548805, -0.02162381261587143, 0.1859123706817627]
  rpy: [-78.44855580026041, 13.631881393437133, -9.60627234491953]
  scale: 1.0