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_009
  xyz: [4.63961623609066e-06, 1.126900315284729e-05, -0.0165444016456604]
  rpy: [89.91797766671512, 4.9929306136017465e-05, -0.03720073190722782]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_028
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  rpy: [-92.56662740996512, -46.1813177775315, -6.513482905558755]
  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_029
  xyz: [0.16963668167591095, 0.10650677978992462, 0.12315107136964798]
  rpy: [-9.503267969485698, 48.125629220061285, 24.33745337991659]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_109
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  rpy: [179.4378212320356, -2.318274640988994, -71.02531771973956]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_030
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  rpy: [0.029254397854211106, 0.02924875003751615, -89.99982876909561]
  scale: 1.0

- object_id: active_perception/omni_objects/ginger/ginger_034
  xyz: [-0.3124663531780243, 0.04341449588537216, 1.2047185897827148]
  rpy: [0.19133528783047868, 5.73440116958702, -89.70908033892509]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_054
  xyz: [0.2824081480503082, 0.09035076200962067, 0.16055527329444885]
  rpy: [120.9910595986671, -13.638175426223793, -39.71364423506333]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_031
  xyz: [-0.3103030025959015, 0.07148830592632294, 0.09672661870718002]
  rpy: [-157.06718803053798, 16.68388429408174, -58.89192397592302]
  scale: 1.0