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: [-0.00011451132013462484, -0.0029473481699824333, 0.13037455081939697]
  rpy: [86.4524732505096, -0.07670751588594593, -1.816179865628382]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_040
  xyz: [0.005335865076631308, -0.00430641882121563, -483.988037109375]
  rpy: [1.4912926048209734, -2.0630415942130957, -89.8681676558108]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_030
  xyz: [-0.04198644682765007, 0.05416711047291756, 0.06757911294698715]
  rpy: [-14.12239962384469, -11.277224093404419, -48.55152787225877]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_038
  xyz: [0.061694659292697906, -0.017318617552518845, 0.08923119306564331]
  rpy: [105.9259109328957, 10.246308235481022, 71.15270923581545]
  scale: 1.0

- object_id: active_perception/omni_objects/carrot/carrot_040
  xyz: [0.04834108054637909, -0.007502344436943531, -456.2336120605469]
  rpy: [0.3362761528215424, 0.38458191498799976, -89.74846154646943]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_041
  xyz: [0.07092751562595367, 0.01198418065905571, 0.09006943553686142]
  rpy: [134.78905196794756, 31.19746704025883, -60.768792221371534]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_067
  xyz: [-0.022755417972803116, -0.004508165642619133, 0.1089572086930275]
  rpy: [-20.465971483153098, 10.156479240660538, -42.82968541031785]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_031
  xyz: [-0.003896786831319332, 0.005904720164835453, -427.6952209472656]
  rpy: [-7.970845846088735e-07, -2.9713805411717653e-07, -90.0]
  scale: 1.0