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: [0.002188779879361391, -0.0015618011821061373, 0.02972041256725788]
  rpy: [0.3658835462221892, -2.4519361411323652, 88.80327818798196]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_037
  xyz: [-0.0003160099149681628, 0.026253653690218925, 0.010763399302959442]
  rpy: [-137.93780580211788, -38.65997728004756, 46.34918001144928]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_038
  xyz: [0.004553079139441252, -0.028080366551876068, -0.011036083102226257]
  rpy: [61.44677309718858, -20.994872698555955, 156.38337914464705]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_037
  xyz: [0.031018627807497978, -0.02011658251285553, 0.0023052352480590343]
  rpy: [-29.62046998693347, -37.43600294889406, 70.76927926178872]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_041
  xyz: [0.00807546079158783, 0.020355913788080215, 0.03241581842303276]
  rpy: [124.50760586457922, 61.964058336972975, -73.58092902791985]
  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_028
  xyz: [-0.02831221930682659, -0.0035460186190903187, 0.009630385786294937]
  rpy: [-153.73784214063565, -10.493439064771264, -60.696009010900525]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_042
  xyz: [0.006021695211529732, -0.036841295659542084, 0.013682245276868343]
  rpy: [161.15094488152923, 43.7330612555122, -169.43141258117015]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_044
  xyz: [0.00842110812664032, 0.003992254380136728, 0.007471449673175812]
  rpy: [-106.17348842760312, 41.99555543436923, 30.309112397462613]
  scale: 1.0