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: [0.023537081878660746, -0.960354126178995, 88.61152720766167]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_045
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  rpy: [-96.2116725534299, 28.989650405942534, 17.046948765020048]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_064
  xyz: [-0.03347316011786461, -0.16442500054836273, 0.950839102268219]
  rpy: [-84.09430811208782, -60.25601527150184, 7.421449824391271]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_028
  xyz: [0.13110430538654327, 0.05870744213461876, 0.9280725121498108]
  rpy: [130.80883768540153, -82.88414462477475, 172.77383804486237]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_039
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  rpy: [-90.6265617730389, 13.5227753254195, 6.772742181317633]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_043
  xyz: [0.009344099089503288, -0.04049042612314224, 0.9312810897827148]
  rpy: [-115.0482047981965, -83.39543773362601, -69.27325509826598]
  scale: 1.0