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: [-0.00028351484797894955, 0.00099096167832613, 0.021121568977832794]
  rpy: [0.0003741043665574689, 0.18571438452797964, 90.65002091833277]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_109
  xyz: [0.0046044811606407166, -0.03477929159998894, 0.11473434418439865]
  rpy: [-85.5656279612208, -1.6132345164847945, 1.4993624702980037]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_040
  xyz: [0.04020177572965622, -0.04688725247979164, 0.12067464739084244]
  rpy: [-16.71623074869472, 53.525506997801955, 73.2996838700563]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_123
  xyz: [0.0011215799022465944, 0.02853931486606598, 0.11138072609901428]
  rpy: [-117.33001771176032, 31.80940844637826, -0.7296889141280337]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_060
  xyz: [0.01938900351524353, 0.06647170335054398, 0.1419203281402588]
  rpy: [-43.32646674111331, 23.7723155931141, 20.012408100319462]
  scale: 1.0