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: [-0.0024944983888417482, -0.003906389232724905, 0.06587576121091843]
  rpy: [-0.12304522966534465, 1.9469665651636454, 86.95744150032412]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_113
  xyz: [0.036903612315654755, -0.011703168973326683, 0.019029028713703156]
  rpy: [-104.79429703709195, -0.444244458889499, 7.759887855995107]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_039
  xyz: [0.0034624047111719847, -0.05020708218216896, 0.03326928988099098]
  rpy: [-88.62444419086178, -48.67379006439277, -41.31062137497005]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_029
  xyz: [0.003522756276652217, 0.01941141113638878, 0.045621201395988464]
  rpy: [-97.34683047958879, 27.67788350074799, -36.20698182213556]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_031
  xyz: [0.00770959910005331, -0.027196556329727173, 0.02260415069758892]
  rpy: [-151.3458205220351, 36.500547427992025, -17.222070521790677]
  scale: 1.0

- object_id: active_perception/omni_objects/carrot/carrot_040
  xyz: [-0.047993164509534836, -0.022112922742962837, 0.023465096950531006]
  rpy: [146.67846289002713, -58.089262079313286, 149.83865431174004]
  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_028
  xyz: [0.05640890449285507, 0.006923242472112179, 0.04016055166721344]
  rpy: [-28.28470255776326, 63.74394086966643, 92.78957616319693]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_042
  xyz: [-0.040546219795942307, 0.026686333119869232, 0.04090595990419388]
  rpy: [-111.48536868258907, 9.359029792109999, -98.43695726272178]
  scale: 1.0