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: [90.65005094231286, -0.0019774464413369296, -0.18568827946489394]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_046
  xyz: [0.03580857440829277, 0.05748626962304115, 0.15622678399085999]
  rpy: [-3.5888246569548787, 11.007597500413732, -66.54816373996711]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_030
  xyz: [0.017437895759940147, -0.0010328767821192741, 0.14453144371509552]
  rpy: [-76.65552405284686, -70.83201633207968, -82.84446993774795]
  scale: 1.0

- object_id: active_perception/omni_objects/soap/soap_037
  xyz: [0.007116491906344891, 0.04613404721021652, 0.14757677912712097]
  rpy: [-60.34249500273546, -42.207540165413285, -104.43942121143527]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_123
  xyz: [-0.024788040667772293, 0.044539447873830795, 0.14023256301879883]
  rpy: [-1.7047630301328296, 14.235431237406454, -126.83943981382247]
  scale: 1.0

- object_id: active_perception/omni_objects/garlic/garlic_033
  xyz: [0.04978930950164795, -0.0016235895454883575, 0.14768867194652557]
  rpy: [7.299761545979818, 6.202633240522705, -81.76483955741728]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_112
  xyz: [0.048864129930734634, -0.06918372958898544, 0.1665545403957367]
  rpy: [-25.116015379626155, -2.54554535009392, -81.2969461553831]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_038
  xyz: [-0.036172717809677124, -0.06862620264291763, 0.15969997644424438]
  rpy: [-22.06974577925008, 2.371551753271381, -89.45300941447243]
  scale: 1.0