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/blender/blender_cabinet_003
  xyz: [-8.365605026483536e-07, 5.781650543212891e-06, -0.005629062652587891]
  rpy: [90.00001448901742, 0.00044577311666628335, 6.597429664647263e-08]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_030
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  rpy: [92.14831749421653, -27.1656212282063, -135.9490948025204]
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- object_id: active_perception/omni_objects/apple/apple_063
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  rpy: [35.098373586709144, -19.195817919266126, -133.58251203149624]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_045
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  rpy: [-91.1173088178945, 5.1780232171879454, 104.7574091513786]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_109
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  rpy: [-3.4942675392834666, 5.160442239317658, -89.63571213638062]
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- object_id: active_perception/omni_objects/bowl/bowl_016
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  rpy: [70.18674868609081, -79.85582166617176, -33.479271689627865]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_113
  xyz: [-0.13906894624233246, -0.03740066662430763, 0.18705631792545319]
  rpy: [164.9705325881144, -4.130030018174976, -72.83948858784701]
  scale: 1.0

- object_id: active_perception/omni_objects/ginger/ginger_034
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  rpy: [-3.087493318194035, 3.1482752892959573, -93.95125162145187]
  scale: 1.0