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/chair/chair_028
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  rpy: [89.7048905151487, -0.0756618580101078, -0.8318547189964477]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_038
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  rpy: [94.0413882809561, -31.368829056239086, -96.62341513789082]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_115
  xyz: [0.019356131553649902, 0.036829881370067596, 0.30042916536331177]
  rpy: [-70.13351306867906, 58.67811340597908, -23.556807925642968]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_044
  xyz: [0.11574447900056839, -0.033215925097465515, 0.325130820274353]
  rpy: [70.19968333251784, -22.89029360801322, -33.17991625374567]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_039
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  rpy: [62.156431990198435, 8.935630814176683, 94.95042402947136]
  scale: 1.0

- object_id: active_perception/omni_objects/corn/corn_030
  xyz: [0.018260378390550613, -0.014711788855493069, 0.31802812218666077]
  rpy: [138.1459698926007, 0.701720196869403, -97.75432788922254]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_031
  xyz: [0.10098665952682495, 0.04157233238220215, 0.3031448423862457]
  rpy: [143.80933046597937, -6.975857322893884, -100.98907113504956]
  scale: 1.0

- object_id: active_perception/omni_objects/bowl/bowl_017
  xyz: [0.10205013304948807, 0.06564881652593613, 0.351503849029541]
  rpy: [-59.98869776540679, -75.1521716199004, -160.91472161261552]
  scale: 1.0