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
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- object_id: active_perception/omni_objects/pear/pear_038
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- object_id: active_perception/omni_objects/garlic/garlic_032
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  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_029
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- object_id: active_perception/omni_objects/cup/cup_037
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  rpy: [-70.32311719403076, 53.99877566716469, -21.152427516927066]
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- object_id: active_perception/omni_objects/biscuit/biscuit_107
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  rpy: [2.1553964655567515, -2.1136489318989016, -89.95883811157786]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_039
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- object_id: active_perception/omni_objects/banana/banana_040
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  rpy: [85.90566131553032, -39.28119718784249, -41.65097000757234]
  scale: 1.0