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: [-0.0012034547980874777, -0.010374171659350395, 0.00787667091935873]
  rpy: [-0.43827367163684544, 0.6731925018525833, 82.15330291149141]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_114
  xyz: [0.0013321959413588047, -0.039517842233181, -0.044537197798490524]
  rpy: [-74.80007334308333, 6.759759824796415, 0.04304724292032693]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_037
  xyz: [-0.05189039185643196, -0.03656395152211189, -0.035525452345609665]
  rpy: [-102.99508648395617, 3.1554736769360985, -2.5400067769533576]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_030
  xyz: [0.05282784253358841, -0.05447458475828171, -0.037371374666690826]
  rpy: [-20.90008053718245, -34.24269164219099, -45.03132715201344]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_033
  xyz: [-0.01717827282845974, 0.0013788104988634586, -0.01840907335281372]
  rpy: [-81.88017839953285, -14.810859029497527, 7.7456556503369764]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_029
  xyz: [-0.005529078654944897, -0.05693826451897621, -0.008926494978368282]
  rpy: [165.50549660608797, -51.305453072801335, 112.9449058830241]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_035
  xyz: [-0.03824900835752487, 0.03328312560915947, -0.006640023086220026]
  rpy: [-110.25535749845758, 67.65434232960929, 33.417289741282055]
  scale: 1.0