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: [88.61174839819006, 0.10278205806176542, 0.9631131318626268]
  scale: 1.0

- object_id: active_perception/omni_objects/soap/soap_037
  xyz: [0.19723746180534363, -0.04880416765809059, 0.8572527170181274]
  rpy: [112.02829007124932, -72.1912189145646, 20.837006818382463]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_039
  xyz: [0.15307432413101196, -0.026445679366588593, 0.8817943334579468]
  rpy: [43.246886669287186, -27.48368995968836, -61.612339337388455]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_045
  xyz: [0.0383366234600544, 0.07386764883995056, 0.8674019575119019]
  rpy: [86.74791433653112, 64.16106523916234, -71.77628913182404]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_104
  xyz: [-0.13109463453292847, -0.11915754526853561, 0.8624886870384216]
  rpy: [-5.91194291776957, 6.4512061626473995, -89.22774794904043]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_041
  xyz: [0.11868615448474884, -0.12912902235984802, 0.8723306059837341]
  rpy: [-92.78500334435385, -42.75179339059352, -76.53087889920421]
  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_029
  xyz: [0.1460922211408615, 0.1321875900030136, 0.8888135552406311]
  rpy: [-34.247691108951464, -50.05053665607619, -115.73948828177204]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_052
  xyz: [-0.11937824636697769, 0.06286828219890594, 0.8905937075614929]
  rpy: [53.20912227727255, 15.937344659355736, -80.99812568750463]
  scale: 1.0