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
  xyz: [-0.003976470325142145, -0.0010194857604801655, 0.27490031719207764]
  rpy: [0.4388585038694726, 0.6661655935126584, 89.48453043732003]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_060
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  rpy: [-81.88853124057441, -14.13252685143749, 10.482508462207578]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_129
  xyz: [0.07053572684526443, -0.059165842831134796, 0.2803660035133362]
  rpy: [-58.788093596649524, 12.565535113400665, -2.55747444737357]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_029
  xyz: [-0.02488316223025322, 0.02574106864631176, 0.2751932442188263]
  rpy: [115.63771378572974, -62.27405739617407, 168.74912444102432]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_046
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  rpy: [-93.02046305179282, 4.141168973495853, -60.16733514208742]
  scale: 1.0

- object_id: active_perception/omni_objects/corn/corn_031
  xyz: [0.053746532648801804, -0.019188517704606056, 0.29528748989105225]
  rpy: [-81.04521329852892, -6.373553090185125, -8.01158735349486]
  scale: 1.0

- object_id: active_perception/omni_objects/carrot/carrot_040
  xyz: [-0.03715364634990692, -0.014147231355309486, 0.28027451038360596]
  rpy: [-77.76001757143965, 36.30835455141672, 15.99752956670297]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_039
  xyz: [0.10257524996995926, -0.09158545732498169, 0.3013342320919037]
  rpy: [-3.9796204152418597, -56.8897603398099, 174.20395642286516]
  scale: 1.0