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: [-0.006994484458118677, -0.01704922690987587, 0.12786756455898285]
  rpy: [-0.9046524256203617, -4.6878176585419205, 80.8804174530535]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_040
  xyz: [-0.0014874867629259825, -0.02161952666938305, 0.11334101855754852]
  rpy: [172.3940584306692, -40.99953790096183, 36.77288649894201]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_037
  xyz: [-0.007721417583525181, -0.04587627947330475, 0.09821302443742752]
  rpy: [-102.52209748680906, -28.83342374605187, -132.3307904411092]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_039
  xyz: [0.025899477303028107, 0.0037776243407279253, -439.3643493652344]
  rpy: [-89.99999517032747, -1.5092727095493124e-06, 9.055635396813238e-07]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_042
  xyz: [0.029703207314014435, -0.0298570916056633, 0.10978398472070694]
  rpy: [-29.49733553466647, -30.851267385994582, -9.413516958793906]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_061
  xyz: [-0.016308201476931572, -0.01312299631536007, -420.9966735839844]
  rpy: [-90.0, -7.970845973310922e-07, 2.9713804480688954e-07]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_042
  xyz: [-0.028724536299705505, -0.023781288415193558, 0.10473264753818512]
  rpy: [-131.76017466656876, 41.538353996741016, -57.57394971200935]
  scale: 1.0