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: [87.81737984229242, 0.0737171323045722, 0.08504268610356444]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_037
  xyz: [0.010899963788688183, -0.015914669260382652, 0.019538599997758865]
  rpy: [-9.363245527929621, 24.438596893272805, -80.14051714857469]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_029
  xyz: [-0.024355024099349976, 0.017745450139045715, 0.013335115276277065]
  rpy: [3.339978115558722, 69.5735555911596, 100.21474267367783]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_037
  xyz: [0.0019192788749933243, 0.02898767776787281, 0.010874140076339245]
  rpy: [-82.06527023734543, -34.067319616825635, -128.38010772954016]
  scale: 1.0

- object_id: active_perception/omni_objects/carrot/carrot_040
  xyz: [-0.012552791275084019, -0.023912271484732628, 0.0240184236317873]
  rpy: [-79.87951424937339, -15.719125690627235, -78.35667614515354]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_037
  xyz: [-0.009927542880177498, 0.0011146197794005275, 0.031542710959911346]
  rpy: [-40.851468288949306, 8.901942884593426, 88.85879729661455]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_031
  xyz: [0.010069552809000015, -0.0032604741863906384, 0.03258560970425606]
  rpy: [166.93436640736078, -44.43266184077077, -10.74294628092617]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_039
  xyz: [-0.03384978324174881, -0.004950808361172676, 0.018354129046201706]
  rpy: [-100.16522114860375, 31.865813518655557, -17.994669402283137]
  scale: 1.0