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_022
  xyz: [0.001758703961968422, -7.425341755151749e-05, -0.002146119251847267]
  rpy: [89.72901192656708, -0.42609290293498775, 1.4665246168183086]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_037
  xyz: [0.0026958035305142403, 0.02326364442706108, -0.030059557408094406]
  rpy: [102.55113774844398, 22.16179821087101, 75.59600475232162]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_041
  xyz: [0.033399295061826706, -0.022959113121032715, -0.03317974507808685]
  rpy: [-127.30791285665153, -66.37679204905747, -172.34419631145494]
  scale: 1.0

- object_id: active_perception/omni_objects/soap/soap_037
  xyz: [-0.008459504693746567, -0.024805845692753792, -0.045274220407009125]
  rpy: [-92.23753048770976, -67.61874921068949, -158.38758161954354]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_030
  xyz: [0.02824709564447403, -0.010435623116791248, -0.04325352609157562]
  rpy: [-106.27298524231306, -23.19300731612382, 89.74385011566271]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_037
  xyz: [0.02313343994319439, -0.029546480625867844, -0.04483957588672638]
  rpy: [-99.0638928558056, -17.122165615136286, -65.76972236388579]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_042
  xyz: [-0.02659083716571331, -0.010209866799414158, -0.026950538158416748]
  rpy: [67.79482618127341, 18.778337755719072, -50.097134753184356]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_045
  xyz: [-0.010948993265628815, -0.025674428790807724, -0.021909866482019424]
  rpy: [-146.04868442204778, -57.90267885624188, -132.38716129542675]
  scale: 1.0