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: [0.002883946755900979, -0.0011466757860034704, 0.05773858726024628]
  rpy: [88.86215567056358, 0.041360857815577655, 2.7924007675356064]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_028
  xyz: [0.004402879159897566, -0.004752270877361298, 0.020321086049079895]
  rpy: [-105.80987679631541, 6.7143479932006676, -84.72038102427997]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_039
  xyz: [0.005546616390347481, -0.030415553599596024, 0.028851404786109924]
  rpy: [-34.38595066918567, -17.106481610763907, -91.66673095725825]
  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_028
  xyz: [-0.018716339021921158, -0.0025207391008734703, 0.04256464168429375]
  rpy: [88.66596940665447, -9.434595826928696, -96.70926807327774]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_041
  xyz: [-0.023429052904248238, -0.030177179723978043, 0.08250382542610168]
  rpy: [155.53110810317978, -19.573723582774605, 143.6212236547698]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_038
  xyz: [0.03088737092912197, -0.0074947127141058445, 0.044958360493183136]
  rpy: [152.25789089722332, 50.25935647783351, 141.23923768019472]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_037
  xyz: [0.025411123409867287, 0.021386146545410156, 0.03062313422560692]
  rpy: [66.86241672154435, -70.88542013678011, 11.258773814590226]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_061
  xyz: [0.04272650182247162, 0.0072078825905919075, 0.03567451983690262]
  rpy: [144.39308259322473, 12.424825008545831, -8.127393454244784]
  scale: 1.0