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: [6.487139035016298e-05, -0.002037867670878768, 0.07434102147817612]
  rpy: [-0.028155243286861333, -0.08236393785225832, 87.81722318909407]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_042
  xyz: [-0.006117717828601599, 0.03877002373337746, 0.05730341747403145]
  rpy: [-72.92758530973587, 15.410431649658376, -1.689314741533065]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_040
  xyz: [0.01728278398513794, 0.016836436465382576, 0.03477640822529793]
  rpy: [-59.233835885746416, 24.37043347893419, 33.749351944502095]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_045
  xyz: [0.012628897093236446, -0.03143233060836792, 0.045898955315351486]
  rpy: [-74.44040387373494, -17.216858247619594, 58.514304691208366]
  scale: 1.0

- object_id: active_perception/omni_objects/carrot/carrot_040
  xyz: [-0.007182138040661812, 0.012528518214821815, 0.04399707913398743]
  rpy: [-64.84579652760759, -43.750262129490736, -15.510160485825589]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_039
  xyz: [0.01042894646525383, -0.00894312933087349, 0.042973682284355164]
  rpy: [-94.41763140958841, 49.365158964091286, 54.263479348943015]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_041
  xyz: [0.03398669511079788, 0.0030621469486504793, 0.032022107392549515]
  rpy: [-115.90437293764028, -19.30292659602866, 50.86046679670366]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_061
  xyz: [-0.016388308256864548, -0.011897738091647625, 0.04137548431754112]
  rpy: [73.98221590433687, -33.78170788188443, -95.43263613197296]
  scale: 1.0