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: [-0.0021468535996973515, -0.004557723645120859, 0.08212780207395554]
  rpy: [-0.05356910547753597, 1.9323693313409611, 85.9572085827448]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_105
  xyz: [-0.03673325851559639, -0.03243739530444145, 0.03260248154401779]
  rpy: [-160.90597882751862, 3.1901907871913733, 5.412017192305009]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_041
  xyz: [0.04713554307818413, -0.015210438519716263, 0.04173722118139267]
  rpy: [-163.70433663387016, -71.05088841469548, 59.404295298346135]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_032
  xyz: [0.005444257520139217, -0.018016818910837173, 0.06918787211179733]
  rpy: [69.69401180300784, 72.23174835704576, -93.5898003364966]
  scale: 1.0

- object_id: active_perception/omni_objects/waffle/waffle_041
  xyz: [0.005476006772369146, 0.03250156715512276, 0.0683291107416153]
  rpy: [-89.12861895640738, 26.632062973536552, 104.28119806728803]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_113
  xyz: [0.011690882034599781, -0.043580614030361176, 0.03638513386249542]
  rpy: [86.06680338315526, -13.326025001342492, 173.16679359710162]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_030
  xyz: [0.06836505979299545, 0.0027577835135161877, 0.04202727973461151]
  rpy: [-1.7419376184448039, 71.96794520204386, 77.58796847248838]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_122
  xyz: [-0.026931222528219223, 0.007508337497711182, 0.037584200501441956]
  rpy: [-10.869289787340987, -1.0031710332102788, 8.84014643777508]
  scale: 1.0