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_022
  xyz: [0.0015584069769829512, -0.00016542509547434747, 0.05799773707985878]
  rpy: [-0.1912170532617636, -1.4683248757171952, 89.72894216760326]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_028
  xyz: [-0.03234339505434036, -0.004587495233863592, 0.021179266273975372]
  rpy: [-75.65087962293036, -28.426299732601557, -38.23441458372705]
  scale: 1.0

- object_id: active_perception/omni_objects/carrot/carrot_040
  xyz: [-0.009621236473321915, -0.025224080309271812, 0.019394075497984886]
  rpy: [160.66667486257927, -69.33799486206999, 82.50500307789065]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_040
  xyz: [0.02337067760527134, -0.030150659382343292, 0.015019532293081284]
  rpy: [141.16725742750282, -42.62871432473759, -156.47993915586986]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_042
  xyz: [-0.00573580851778388, 0.025587432086467743, 0.027294309809803963]
  rpy: [-157.54371632783776, -74.1850187514347, 1.9369011332228327]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_038
  xyz: [-0.0095298420637846, 0.020787889137864113, 0.017452221363782883]
  rpy: [-82.06834523895249, -79.80307710529402, -54.33844091446815]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_039
  xyz: [0.02535301446914673, 0.008759889751672745, 0.027046162635087967]
  rpy: [-145.11166131189745, 63.01954255898113, 13.553434085452865]
  scale: 1.0

- object_id: active_perception/omni_objects/garlic/garlic_033
  xyz: [-0.0038876936305314302, -0.003299699630588293, 0.021635137498378754]
  rpy: [-110.93935326906644, 21.36151526192493, 0.5192189793838057]
  scale: 1.0