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
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  rpy: [90.00000965934548, 1.6682474988370387e-05, 2.213782339377762e-07]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_130
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  rpy: [7.083963001493831, 0.33088432023271214, -89.02664798279817]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_038
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  rpy: [5.522668429718715, 3.3978630879367038, -89.78719949956347]
  scale: 1.0

- object_id: active_perception/omni_objects/corn/corn_031
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  rpy: [-24.677506570011225, 3.5650163104295864, -92.18412612010384]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_038
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  rpy: [95.05125593739123, -53.32161511138928, -82.75788311304342]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_063
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  rpy: [69.25005605689435, -8.680327867483786, -81.57330591684102]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_067
  xyz: [0.4102552533149719, 0.1981661468744278, 1.2267792224884033]
  rpy: [-5.529987541652672, 16.08523993982383, -89.22723534695228]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_039
  xyz: [-0.2596645951271057, -0.10897432267665863, 1.2078993320465088]
  rpy: [-3.351900797702937, -7.971925331293717, -91.5514624832503]
  scale: 1.0