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_023
  xyz: [-0.01466775219887495, 0.0028509534895420074, 0.1349305957555771]
  rpy: [-0.5598209690505895, 45.22449263031873, 84.14555702016206]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_038
  xyz: [0.0358615443110466, -0.013036624528467655, -466.6136169433594]
  rpy: [-90.04257049166756, 0.2993721288844387, 1.3815596568916568]
  scale: 1.0

- object_id: active_perception/omni_objects/garlic/garlic_033
  xyz: [-0.005400908179581165, -0.0054572271183133125, -457.5174865722656]
  rpy: [-90.00000482967297, 9.055636486295811e-07, -9.055637177923598e-07]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_045
  xyz: [-0.009005298838019371, 0.007352176122367382, 0.10615232586860657]
  rpy: [-110.94213610684946, -9.729690678265284, -162.98055072009416]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_028
  xyz: [-0.004450093023478985, 0.010649377480149269, -439.3685302734375]
  rpy: [-90.62951054227072, 1.2411304536374144, 0.013384183708684935]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_047
  xyz: [0.006726284511387348, 0.0021568643860518932, -429.35406494140625]
  rpy: [-89.99999517032738, -4.452354303609412e-06, -1.735663760629794e-06]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_038
  xyz: [-0.0008271603146567941, -0.0027954753022640944, -420.2200012207031]
  rpy: [-90.0, -7.970845973310922e-07, 2.9713804480688954e-07]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_039
  xyz: [-0.017395567148923874, -0.015877624973654747, 0.10285010188817978]
  rpy: [-110.86591610842596, -42.779771991480764, -43.886925138806944]
  scale: 1.0