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: [0.12609585752018654, -0.9603921295927454, 88.61153612319981]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_043
  xyz: [-0.0874258503317833, -0.022368192672729492, 0.8732126951217651]
  rpy: [-83.10081246249243, -13.471850055377518, -5.089671565217387]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_041
  xyz: [-0.03645685687661171, -0.029869239777326584, 0.8642703294754028]
  rpy: [-98.2186153294371, 14.255923345170386, -76.2469022818315]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_044
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  rpy: [-85.95803621372524, -36.992023374031284, -22.488873472137268]
  scale: 1.0