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: [-0.1889764433576518, 1.807952193489841, 86.45070730277466]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_040
  xyz: [0.005335865076631308, -0.00430641882121563, -483.988037109375]
  rpy: [-89.86820875169025, 1.4865428214304328, 2.0664660057113395]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_030
  xyz: [-0.04198644682765007, 0.05416711047291756, 0.06757911294698715]
  rpy: [-46.965821285668156, -17.96413315838279, -1.1662722883432277]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_038
  xyz: [0.061694659292697906, -0.017318617552518845, 0.08923119306564331]
  rpy: [-32.74323451338589, -67.79322708080213, 135.5963194140108]
  scale: 1.0

- object_id: active_perception/omni_objects/carrot/carrot_040
  xyz: [0.04834108054637909, -0.007502344436943531, -456.2336120605469]
  rpy: [-89.74846283703071, 0.3379612758073795, -0.38310191885866585]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_041
  xyz: [0.07092751562595367, 0.01198418065905571, 0.09006943553686142]
  rpy: [62.26070305910298, 26.175636147331304, 132.18156792257236]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_067
  xyz: [-0.022755417972803116, -0.004508165642619133, 0.1089572086930275]
  rpy: [-43.37800501876095, -6.692533125352473, -21.793790298725295]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_031
  xyz: [-0.003896786831319332, 0.005904720164835453, -427.6952209472656]
  rpy: [-90.0, -7.970845973310922e-07, 2.9713804480688954e-07]
  scale: 1.0