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: [-0.01466775219887495, 0.0028509534895420074, 0.1349305957555771]
  rpy: [85.8720253862374, 3.59394262289364, -45.11508696788564]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_038
  xyz: [0.0358615443110466, -0.013036624528467655, -466.6136169433594]
  rpy: [0.29834536902289216, -1.381781706524025, -90.04258229315745]
  scale: 1.0

- object_id: active_perception/omni_objects/garlic/garlic_033
  xyz: [-0.005400908179581165, -0.0054572271183133125, -457.5174865722656]
  rpy: [9.055637122406747e-07, 9.055636359073624e-07, -90.000004829673]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_045
  xyz: [-0.009005298838019371, 0.007352176122367382, 0.10615232586860657]
  rpy: [164.82930132630062, 12.450840457968072, 111.14740136759578]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_028
  xyz: [-0.004450093023478985, 0.010649377480149269, -439.3685302734375]
  rpy: [1.2409085513617761, -0.02701837520857351, -90.62936291816516]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_047
  xyz: [0.006726284511387348, 0.0021568643860518932, -429.35406494140625]
  rpy: [-4.452354456276037e-06, 1.7356633958873253e-06, -89.99999517032741]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_038
  xyz: [-0.0008271603146567941, -0.0027954753022640944, -420.2200012207031]
  rpy: [-7.970845846088735e-07, -2.9713805411717653e-07, -90.0]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_039
  xyz: [-0.017395567148923874, -0.015877624973654747, 0.10285010188817978]
  rpy: [-21.696751898761704, 55.29769556481363, -117.3353382650762]
  scale: 1.0