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_001
  xyz: [-9.220093488693237e-08, 3.241002559661865e-07, -0.06014382839202881]
  rpy: [90.00000482967269, -7.80296909644748e-06, 2.4073197024113157e-06]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_038
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  rpy: [-2.3411111585323034, -5.488548307496509, 134.77285010050957]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_037
  xyz: [-0.243138387799263, -0.16750207543373108, 0.7581920027732849]
  rpy: [9.281421349796823, -34.084890511807366, -66.13581880724591]
  scale: 1.0

- object_id: active_perception/omni_objects/knife/knife_031
  xyz: [0.6837254166603088, -0.15869274735450745, 0.7540795207023621]
  rpy: [87.07408216002224, 3.1579526230294936, -91.32594566730357]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_120
  xyz: [-0.2136208713054657, 0.07222819328308105, 0.7513246536254883]
  rpy: [-3.098519208976088, 0.8766257981145088, -85.31939412768735]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_111
  xyz: [-0.40803012251853943, -0.08944495767354965, 0.7566863894462585]
  rpy: [0.014601209720075116, 0.0006644900872227713, -90.08184371904726]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_114
  xyz: [-0.6990942358970642, -0.15722723305225372, 0.752764105796814]
  rpy: [-0.1764862766635894, 1.4145983744049755, -90.00208614877637]
  scale: 1.0