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: [90.65001620966417, 0.003427873870338435, -0.18576105280091765]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_029
  xyz: [0.0488293319940567, -0.02867857925593853, 0.17513875663280487]
  rpy: [-3.6574821699959346, 0.9638701433596357, -92.04163748061353]
  scale: 1.0

- object_id: active_perception/omni_objects/waffle/waffle_040
  xyz: [-0.0827440544962883, -0.07048746198415756, 0.19595180451869965]
  rpy: [10.866270213951125, 87.28224215986634, -130.42191596600347]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_041
  xyz: [0.03266752138733864, 0.0085920300334692, 0.19214293360710144]
  rpy: [-5.183593158565985, -6.664389014040921, -102.22687631069792]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_031
  xyz: [-0.013822544366121292, -0.0794711634516716, 0.17180435359477997]
  rpy: [-105.43399362844129, -15.194729667338379, -94.95333512822874]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_030
  xyz: [0.06321553140878677, -0.04808836430311203, 0.17382313311100006]
  rpy: [0.636473080391938, 0.18406014938315934, -90.0008194824985]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_030
  xyz: [-0.035948965698480606, -0.0747358500957489, 0.172882542014122]
  rpy: [-98.25248544597743, 28.63325610072987, 5.149946269461962]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_107
  xyz: [-0.027533018961548805, -0.02162381261587143, 0.1859123706817627]
  rpy: [11.460153491297197, 12.124100435724783, -78.51879588648455]
  scale: 1.0