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: [0.00012764055281877518, -0.0022776424884796143, 0.05172253027558327]
  rpy: [0.07690247594289741, -0.08217349519761843, 87.81737940384555]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_037
  xyz: [0.010899963788688183, -0.015914669260382652, 0.019538599997758865]
  rpy: [-80.99435991192615, -5.186166246784937, -25.58202662566386]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_029
  xyz: [-0.024355024099349976, 0.017745450139045715, 0.013335115276277065]
  rpy: [93.64039680329404, -12.899524979558809, 69.05741225515195]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_037
  xyz: [0.0019192788749933243, 0.02898767776787281, 0.010874140076339245]
  rpy: [-138.64743735582974, -46.75181946572976, 80.3923334592991]
  scale: 1.0

- object_id: active_perception/omni_objects/carrot/carrot_040
  xyz: [-0.012552791275084019, -0.023912271484732628, 0.0240184236317873]
  rpy: [-31.334038325828683, -76.85339701294357, -41.95342322037584]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_037
  xyz: [-0.009927542880177498, 0.0011146197794005275, 0.031542710959911346]
  rpy: [88.50561688891854, 41.018433775650834, 7.9227877068738835]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_031
  xyz: [0.010069552809000015, -0.0032604741863906384, 0.03258560970425606]
  rpy: [2.129636740459478, 45.40883137870364, 172.22391636644176]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_039
  xyz: [-0.03384978324174881, -0.004950808361172676, 0.018354129046201706]
  rpy: [-28.562149970143395, -23.12228979468271, -99.37995387448291]
  scale: 1.0