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: [88.80435596495333, 0.31461028834139365, 2.459036604957535]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_037
  xyz: [-0.0003160099149681628, 0.026253653690218925, 0.010763399302959442]
  rpy: [-56.875753625384654, -9.474312050023585, -125.99728338013497]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_038
  xyz: [0.004553079139441252, -0.028080366551876068, -0.011036083102226257]
  rpy: [-173.5394710512776, 30.583768972468505, -58.77812603888681]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_037
  xyz: [0.031018627807497978, -0.02011658251285553, 0.0023052352480590343]
  rpy: [70.08413910991653, -39.845972787715326, 25.965842410736663]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_041
  xyz: [0.00807546079158783, 0.020355913788080215, 0.03241581842303276]
  rpy: [68.53126936055365, -68.71509377254596, -137.18339875546297]
  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_028
  xyz: [-0.02831221930682659, -0.0035460186190903187, 0.009630385786294937]
  rpy: [57.05321085235281, 27.76168957317976, -175.19362225348308]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_042
  xyz: [0.006021695211529732, -0.036841295659542084, 0.013682245276868343]
  rpy: [151.0371321847016, 35.7233919586295, -147.38405403633408]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_044
  xyz: [0.00842110812664032, 0.003992254380136728, 0.007471449673175812]
  rpy: [32.84389416060053, -40.20963095641152, -105.72812303288426]
  scale: 1.0