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_001
  xyz: [-2.6728957891464233e-07, -2.7567148208618164e-07, 0.01100003719329834]
  rpy: [2.0529940609502636e-05, 3.0978402476954096e-06, 90.00000482967312]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_031
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  rpy: [-89.33639203552369, 15.883176163457069, -1.5076619016991715]
  scale: 1.0

- object_id: active_perception/omni_objects/corn/corn_030
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  rpy: [-86.27104900788325, 3.7716465405938813, 0.04043558145760519]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_053
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  rpy: [-101.41366276932084, 20.6640990621566, -0.786795717175947]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_050
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  rpy: [-88.83264034575734, 9.46554479625082, -4.619541030378563]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_031
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  rpy: [-93.65013387027143, 1.4060886536411012, -16.02877224053853]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_037
  xyz: [-0.13597410917282104, -0.10685648024082184, 0.18147332966327667]
  rpy: [-88.13234660300824, -15.377763186981891, -22.20993254053376]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_046
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  rpy: [18.397259543131355, 70.79036388378296, 88.00302602942484]
  scale: 1.0