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/blender/blender_cabinet_003
  xyz: [-0.0001453098957426846, -7.048249244689941e-06, 0.065243661403656]
  rpy: [0.010170748988352627, -5.674189917986605e-06, 90.00000965884189]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_038
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  rpy: [-60.67526580992381, -6.360869688370567, 2.8197700827233216]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_106
  xyz: [-0.028744764626026154, 0.1762123852968216, 0.18911685049533844]
  rpy: [-153.5330547394108, -32.05274021036357, 65.33216271788075]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_059
  xyz: [-0.041953232139348984, -0.1760152131319046, 0.2651319205760956]
  rpy: [-90.26112244241969, -2.4212420679288895, 3.2333599072255135]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_048
  xyz: [-0.32268765568733215, 0.007759859319776297, 0.0856565311551094]
  rpy: [-98.0148449619671, -37.90211379447038, 3.247143565048957]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_029
  xyz: [-0.25493207573890686, -0.061150308698415756, 0.9992259740829468]
  rpy: [-64.171959096863, 84.15214968775625, 112.5698489501347]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_037
  xyz: [-0.21608518064022064, 0.08667658269405365, 1.000050663948059]
  rpy: [26.83635909086416, 79.13998128908506, 92.73540647316601]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_037
  xyz: [-0.08752449601888657, 0.22736015915870667, 1.0369553565979004]
  rpy: [-129.35949922869224, 50.475014764037546, -67.37904964630052]
  scale: 1.0