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: [-0.002325912471860647, -0.004745739512145519, 0.07650265842676163]
  rpy: [-0.06905558062338624, 1.8594610379633092, 86.24631889564417]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_038
  xyz: [-0.0006234091706573963, -0.043876904994249344, 0.04291005805134773]
  rpy: [113.51483488188079, 45.605777759431376, 131.19602153974765]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_040
  xyz: [-0.05146441236138344, 0.031429652124643326, 0.048231709748506546]
  rpy: [-36.2262615424691, 19.162564146099722, 113.11030813878376]
  scale: 1.0

- object_id: active_perception/omni_objects/waffle/waffle_042
  xyz: [0.0523575022816658, -0.03447752073407173, 0.06601247191429138]
  rpy: [-73.76096985465576, -39.543910484617534, 172.20107546781512]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_130
  xyz: [-0.054038602858781815, -0.04483973607420921, 0.05855628475546837]
  rpy: [134.99401482550417, -22.304829015847428, -85.78532014031114]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_114
  xyz: [0.014022773131728172, 0.015282340347766876, 0.034056901931762695]
  rpy: [-76.1107058953612, -14.148904478551922, -4.343017796417919]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_124
  xyz: [0.06586838513612747, 0.01757574826478958, 0.03590649738907814]
  rpy: [-44.620497678433566, 10.897384397583465, -21.775558924527296]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_063
  xyz: [-0.03384911268949509, -0.005442720837891102, 0.05679475516080856]
  rpy: [-58.076428598614804, 18.441192687623268, 18.569327385828167]
  scale: 1.0