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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  rpy: [89.91732566662104, 5.638730577942786e-05, -0.03731751719213334]
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- object_id: active_perception/omni_objects/potato/potato_054
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- object_id: active_perception/omni_objects/biscuit/biscuit_110
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- object_id: active_perception/omni_objects/biscuit/biscuit_122
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- object_id: active_perception/omni_objects/popcorn/popcorn_040
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- object_id: active_perception/omni_objects/biscuit/biscuit_117
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  rpy: [-0.08661667296595499, 1.374747442648719, -89.99849713334136]
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- object_id: active_perception/omni_objects/egg/egg_044
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  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_119
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  scale: 1.0