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: [-0.002499799244105816, -0.0040199714712798595, 0.05981079861521721]
  rpy: [-0.008085797409309453, 1.950467637003484, 86.87079776540514]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_114
  xyz: [0.046353355050086975, 0.0010274189990013838, 0.012426573783159256]
  rpy: [-91.62742098827806, 5.958541059736216, 0.2493889068940433]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_056
  xyz: [-0.008877148851752281, -0.026806574314832687, 0.007808098569512367]
  rpy: [-144.8390011343997, 1.9967188268790563, 1.8976938037851683]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_130
  xyz: [0.016918271780014038, 0.034683600068092346, 0.032000020146369934]
  rpy: [-70.24290675687166, -54.065792791278014, 2.040261101898846]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_048
  xyz: [-0.04792362451553345, 0.0031698031816631556, 0.02673095464706421]
  rpy: [-58.526911691535574, -29.745526766069457, -5.048642582259721]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_030
  xyz: [-0.051498763263225555, 0.030392220243811607, 0.012239719741046429]
  rpy: [110.68227852862425, -66.85808427206909, -166.62970091101874]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_031
  xyz: [-0.0034314030781388283, 0.001957784639671445, 0.020948240533471107]
  rpy: [30.947925911303134, -58.92572707343094, 37.975790072235135]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_042
  xyz: [0.054778847843408585, 0.0191811490803957, 0.04256262257695198]
  rpy: [-36.586939995045505, -21.39851515549312, 73.48059610419004]
  scale: 1.0