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/flower/flower_pot_021
  xyz: [0.0004137514333706349, -0.0016374026890844107, -0.001307048136368394]
  rpy: [88.54230721520679, 0.009198027031135949, 0.42146676072587747]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_044
  xyz: [0.031240014359354973, 0.02623816393315792, -0.003881915705278516]
  rpy: [14.7152981047443, -4.512066172915436, 35.844779854750634]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_045
  xyz: [0.01807457208633423, -0.012063415721058846, -0.03956873342394829]
  rpy: [90.13495663642914, -27.993730716939396, 83.46669326686838]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_030
  xyz: [-0.02720656991004944, -0.019451003521680832, -0.04045601561665535]
  rpy: [-69.58247299042962, -1.8762077847848957, 97.36759652719773]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_040
  xyz: [-0.006136758718639612, -0.005289036780595779, -0.02797447331249714]
  rpy: [-87.76581874731899, -19.35379995434233, 84.22583064729466]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_037
  xyz: [-0.017551694065332413, 0.003052466083317995, -0.041404929012060165]
  rpy: [-72.63662470345892, -28.10644408789729, 176.16075049409537]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_031
  xyz: [0.007934149354696274, 0.028253493830561638, -0.04120923951268196]
  rpy: [74.47201134805195, -14.597175631042209, 78.36697571614752]
  scale: 1.0