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/cabinet/cabinet_009
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  rpy: [88.61172897708171, 0.10278877350262919, 0.963165189366625]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_043
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  rpy: [-13.972923688264808, 3.4511775603957067, -83.27928751227975]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_041
  xyz: [-0.03645685687661171, -0.029869239777326584, 0.8642703294754028]
  rpy: [40.49994819277472, 72.36099959721751, -117.20833690512461]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_044
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  rpy: [-38.23798074078794, 20.021062442580803, -86.56474594863664]
  scale: 1.0