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: [-0.0002678334712982178, 0.0009468465577811003, 0.08126553893089294]
  rpy: [90.65002132315841, 0.003586202224787484, -0.18575578966712075]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_128
  xyz: [-0.01711992174386978, 0.020031815394759178, 0.17076310515403748]
  rpy: [-179.97065161672077, -0.7754190754829647, 96.13762859970977]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_064
  xyz: [0.052038390189409256, 0.07415654510259628, 0.19422563910484314]
  rpy: [19.818646075051706, -19.27152443612223, -105.24459607385332]
  scale: 1.0

- object_id: active_perception/omni_objects/watch/watch_015
  xyz: [-0.03855918347835541, -0.04313703998923302, 0.17719033360481262]
  rpy: [3.87682610008761, -2.804948064207462, -83.93313186899263]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_117
  xyz: [-0.09071479737758636, 0.07352345436811447, 0.1953437328338623]
  rpy: [132.24699173210908, 52.412811191553374, -117.86595060383402]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_059
  xyz: [-0.021766752004623413, 0.08020241558551788, 0.19672997295856476]
  rpy: [15.589581923788336, 12.64829244499305, -114.06074641626971]
  scale: 1.0