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: [-0.0002684744540601969, 0.0009425089228898287, 0.05326951667666435]
  rpy: [0.0001293748123487412, 0.18569876325271953, 90.65005435629654]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_046
  xyz: [0.03580857440829277, 0.05748626962304115, 0.15622678399085999]
  rpy: [-67.000553201863, 1.0551871770664658, -11.523437207442301]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_030
  xyz: [0.017437895759940147, -0.0010328767821192741, 0.14453144371509552]
  rpy: [-70.34773966004512, -83.01493823846742, 51.453066592090366]
  scale: 1.0

- object_id: active_perception/omni_objects/soap/soap_037
  xyz: [0.007116491906344891, 0.04613404721021652, 0.14757677912712097]
  rpy: [-106.46962076305095, -49.34588903210599, 55.765467170170645]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_123
  xyz: [-0.024788040667772293, 0.044539447873830795, 0.14023256301879883]
  rpy: [-126.14783612042696, -9.856619985225386, -10.46062593058315]
  scale: 1.0

- object_id: active_perception/omni_objects/garlic/garlic_033
  xyz: [0.04978930950164795, -0.0016235895454883575, 0.14768867194652557]
  rpy: [-81.7300705820586, 8.111551987121421, -5.091845615794787]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_112
  xyz: [0.048864129930734634, -0.06918372958898544, 0.1665545403957367]
  rpy: [-80.3834829904917, -25.191830215777983, -1.5498485398463084]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_038
  xyz: [-0.036172717809677124, -0.06862620264291763, 0.15969997644424438]
  rpy: [-89.41036380809211, -22.04605526979007, -2.5929874004776448]
  scale: 1.0