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: [-2.3295148155208287, 1.9347475765961288, 85.94771456929158]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_039
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  rpy: [-89.94467443071152, 2.857995117787439, 3.057133936492105]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_028
  xyz: [0.054453663527965546, 0.009181700646877289, 0.08868227899074554]
  rpy: [27.100072308109137, -41.772137169403685, -81.07805802709147]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_103
  xyz: [-0.01686488837003708, -0.001681653200648725, -465.76171875]
  rpy: [-89.79700923020756, -2.0280090472833, 1.2412717413152803]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_037
  xyz: [0.04739036038517952, -0.027720557525753975, 0.09958778321743011]
  rpy: [-112.10527520162887, -23.007904485240168, 146.6992436414113]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_064
  xyz: [-0.05128205195069313, -0.02277335152029991, 0.10916578769683838]
  rpy: [-54.287010054101785, -27.79728540607287, -65.51712658849722]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_113
  xyz: [-0.04088623821735382, 0.02668575756251812, -437.513671875]
  rpy: [-90.0, -2.8298860600578126e-07, -1.3206135324750646e-07]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_130
  xyz: [0.029611026868224144, 0.02378569170832634, -428.2917175292969]
  rpy: [-90.0, 7.07472405569764e-09, -3.0657102445228404e-08]
  scale: 1.0