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/cabinet/cabinet_009
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  rpy: [0.018960223808953312, -0.9603853137865145, 88.61150271868449]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_045
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  rpy: [-80.86616123387958, 29.694563662559652, 18.054164433078302]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_062
  xyz: [0.004931948613375425, -0.04235460236668587, 0.9079228639602661]
  rpy: [-77.40229414727766, 32.61692619948275, 52.17235430939711]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_067
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  rpy: [-89.06050325408525, -16.39977188400301, -15.882613799274568]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_029
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  rpy: [-37.258456930311134, 85.01400031944168, 162.48572113775703]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_054
  xyz: [0.08972875028848648, -0.039889585226774216, 0.9009467363357544]
  rpy: [-90.91501032801912, 18.227069909036064, -19.354701729012415]
  scale: 1.0

- object_id: active_perception/omni_objects/ginger/ginger_040
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  rpy: [-123.27574578207006, -5.650515502735997, 5.545247532659073]
  scale: 1.0