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/sofa/sofa_013
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  rpy: [0.005538325544697483, 0.51484481209908, 89.41330776326706]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_034
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  rpy: [-93.7221241095778, -75.55748826692097, 4.771449175142283]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_046
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  rpy: [-79.30999575783213, 40.61191252284904, -19.924189570530277]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_039
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  rpy: [26.971936884936536, -50.982541791037, 163.3425733925909]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_041
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  rpy: [-86.57776377602637, 16.25301754854276, -79.06927834140615]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_130
  xyz: [0.1612061709165573, -0.0816158801317215, 0.3942036032676697]
  rpy: [-89.98062877782247, -0.3687449091187942, 1.4641022923778717]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_124
  xyz: [0.23894286155700684, 0.4756412208080292, 0.3840479552745819]
  rpy: [-62.08501799899642, 7.968012874692449, -174.15579833516753]
  scale: 1.0