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: [0.0004137514333706349, -0.0016374026890844107, -0.001307048136368394]
  rpy: [0.019916849314722308, -0.42109637712492787, 88.54226785566914]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_044
  xyz: [0.031240014359354973, 0.02623816393315792, -0.003881915705278516]
  rpy: [34.248727190739324, -12.147416456851701, 9.49989163464447]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_045
  xyz: [0.01807457208633423, -0.012063415721058846, -0.03956873342394829]
  rpy: [-29.02413847894629, -83.402276404488, 91.03720949667536]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_030
  xyz: [-0.02720656991004944, -0.019451003521680832, -0.04045601561665535]
  rpy: [110.54129127426565, 68.57593921660393, 17.337724525343866]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_040
  xyz: [-0.006136758718639612, -0.005289036780595779, -0.02797447331249714]
  rpy: [37.21998623945183, 83.15397717952982, -72.02745895472403]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_037
  xyz: [-0.017551694065332413, 0.003052466083317995, -0.041404929012060165]
  rpy: [-154.0314981431631, 11.781780638491666, 74.40099271040343]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_031
  xyz: [0.007934149354696274, 0.028253493830561638, -0.04120923951268196]
  rpy: [47.539576951492535, -73.1987596531964, 26.32853385880595]
  scale: 1.0