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: [90.65001750386043, -0.0017328014870104014, -0.18570667727281645]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_109
  xyz: [0.0046044811606407166, -0.03477929159998894, 0.11473434418439865]
  rpy: [-1.4924939969011453, -1.6195907844378679, -85.56561405127098]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_040
  xyz: [0.04020177572965622, -0.04688725247979164, 0.12067464739084244]
  rpy: [80.14936802518862, -3.1062546539130422, -55.237141903458685]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_123
  xyz: [0.0011215799022465944, 0.02853931486606598, 0.11138072609901428]
  rpy: [29.157137655171333, -13.336178267056862, -113.63893340402463]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_060
  xyz: [0.01938900351524353, 0.06647170335054398, 0.1419203281402588]
  rpy: [30.614880114696643, 2.3334562508298995, -48.21885996659015]
  scale: 1.0