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/sofa/sofa_013
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  rpy: [89.41333216348711, 0.06266489548931374, -0.5142209556783264]
  scale: 1.0

- object_id: active_perception/omni_objects/ginger/ginger_039
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  rpy: [-8.940883859595699, -52.32818661290953, -28.344557834030336]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_045
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  rpy: [-77.81757888071905, -2.7290556700356863, 133.02202146295554]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_104
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  rpy: [-2.673210708039621, 7.514689266391741, -91.57306863254198]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_037
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  rpy: [78.68131586880237, 19.78770903915758, 44.8557291237857]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_041
  xyz: [0.12059629708528519, 0.012605194933712482, 0.46694907546043396]
  rpy: [-93.63854349809878, -61.339082724388106, -169.6114022323139]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_063
  xyz: [0.14607124030590057, 0.17213895916938782, 0.4606384038925171]
  rpy: [21.516069634311393, -29.051516935550072, -137.2987748948306]
  scale: 1.0

- object_id: active_perception/omni_objects/knife/knife_031
  xyz: [0.0896100327372551, 0.2825477719306946, 0.44547900557518005]
  rpy: [-97.87090915089043, 65.51970133371252, -81.59241921699102]
  scale: 1.0