Create an XML file that contains permissions for the objects in your extensions. The format is as following:
<PermissionSets>
<PermissionSet RoleID="MYROLE" RoleName="My Role">
<Permission>
<ObjectType>TableData</ObjectType>
<ObjectID>50100</ObjectID>
<ReadPermission>Yes</ReadPermission>
<InsertPermission>Yes</InsertPermission>
<ModifyPermission>Yes</ModifyPermission>
<DeletePermission>Yes</DeletePermission>
<ExecutePermission>Yes</ExecutePermission>
<SecurityFilter />
</Permission>
<Permission>
<ObjectType>TableData</ObjectType>
<ObjectID>50101</ObjectID>
<ReadPermission>Yes</ReadPermission>
<InsertPermission>Yes</InsertPermission>
<ModifyPermission>Yes</ModifyPermission>
<DeletePermission>Yes</DeletePermission>
<ExecutePermission>Yes</ExecutePermission>
<SecurityFilter />
</Permission>
</PermissionSet>
</PermissionSets>