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: [85.95950721199279, 0.08277325298057439, -1.9313391668475821]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_105
  xyz: [-0.03673325851559639, -0.03243739530444145, 0.03260248154401779]
  rpy: [-4.085897698767339, -4.77294911484183, -161.2271542970301]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_041
  xyz: [0.04713554307818413, -0.015210438519716263, 0.04173722118139267]
  rpy: [-80.24410950028161, 12.739871140233145, -108.6356933912554]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_032
  xyz: [0.005444257520139217, -0.018016818910837173, 0.06918787211179733]
  rpy: [-93.76404173546614, -73.07856780473101, 68.66290966068034]
  scale: 1.0

- object_id: active_perception/omni_objects/waffle/waffle_041
  xyz: [0.005476006772369146, 0.03250156715512276, 0.0683291107416153]
  rpy: [-156.5117291075046, -76.0880373693053, 86.75866622896146]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_113
  xyz: [0.011690882034599781, -0.043580614030361176, 0.03638513386249542]
  rpy: [-167.16348548997013, 7.723758143175776, -86.13777525636239]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_030
  xyz: [0.06836505979299545, 0.0027577835135161877, 0.04202727973461151]
  rpy: [86.12542479950159, 10.05546639885061, -71.68549224203838]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_122
  xyz: [-0.026931222528219223, 0.007508337497711182, 0.037584200501441956]
  rpy: [8.500340791571972, -2.6347222845026357, -10.595908583223762]
  scale: 1.0