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: [-0.014566381461918354, 0.0026734061539173126, 0.13491244614124298]
  rpy: [-0.7887524954881484, 45.06783832571859, 83.8454906262392]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_047
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  rpy: [-89.92725539631179, 0.21353859414379164, -0.2515224520832853]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_028
  xyz: [0.025759629905223846, 0.02623938024044037, 0.06610733270645142]
  rpy: [145.06740259601747, 1.4459579927274795e-05, -1.6409027620680626e-05]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_044
  xyz: [-0.024567481130361557, -0.015394643880426884, 0.11640952527523041]
  rpy: [-38.452897904842565, 61.8878640094782, 127.20547812253159]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_041
  xyz: [-0.012324175797402859, 0.010652253404259682, -439.369873046875]
  rpy: [-90.00000482967253, 1.056490942484506e-06, 1.6601998948416503e-06]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_042
  xyz: [0.02596854418516159, -0.014225030317902565, 0.0926491841673851]
  rpy: [-98.79656467050627, -8.681018226539535, 46.044659171477925]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_040
  xyz: [-0.007693031802773476, -0.017864730209112167, -420.9942321777344]
  rpy: [-89.99999517032745, 3.9618406367475625e-07, 3.961840931383349e-07]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_030
  xyz: [-0.013441702350974083, 0.00784082617610693, 0.0867835134267807]
  rpy: [126.14692333650756, 30.398612241113348, -116.8560808287455]
  scale: 1.0