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/picnic/picnic_basket_010
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  rpy: [-0.12304522966534465, 1.9469665651636454, 86.95744150032412]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_105
  xyz: [-0.0017132123466581106, -0.016988083720207214, 0.018578030169010162]
  rpy: [-91.62953209424012, -4.144386653707507, 0.36326617994296895]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_042
  xyz: [0.0078016603365540504, 0.02739977091550827, 0.02571101114153862]
  rpy: [91.67900194892682, -45.54381128981898, 76.60770464363894]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_047
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  rpy: [-164.73216399910453, -34.36496509851416, -19.224443539094104]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_039
  xyz: [-0.03366504982113838, -0.03810783475637436, 0.027493562549352646]
  rpy: [-121.91782759320381, -57.53090093233096, 2.823489424479598]
  scale: 1.0

- object_id: active_perception/omni_objects/ginger/ginger_040
  xyz: [-0.007851741276681423, -0.04602106660604477, 0.06372369825839996]
  rpy: [-74.6432906656066, 65.79201984813415, 34.65958562028854]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_037
  xyz: [0.04913321137428284, 0.02927616611123085, 0.041648078709840775]
  rpy: [-100.56627916909419, 50.3191140958404, -13.33854832260954]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_038
  xyz: [0.06725450605154037, -0.007227347232401371, 0.023078378289937973]
  rpy: [162.88895335643622, 64.84908063700206, 22.421616736296286]
  scale: 1.0