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_007
  xyz: [-3.795139491558075e-08, 9.220093488693237e-08, -0.06014379858970642]
  rpy: [3.95358876450925e-06, 1.187726896878857e-05, 90.00001448901929]
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- object_id: active_perception/omni_objects/biscuit/biscuit_127
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  rpy: [-87.98956268010137, 8.164974789431229, 4.616702969699007]
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- object_id: active_perception/omni_objects/potato/potato_049
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  rpy: [-90.45563434810167, 5.543836700086651, -1.458769031488919]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_049
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  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_067
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  rpy: [-120.31577814502805, 52.55503195500862, -102.84393595277723]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_037
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  rpy: [-89.45423455919011, 5.513042252581339, 6.867383444367923]
  scale: 1.0

- object_id: active_perception/omni_objects/bowl/bowl_015
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  rpy: [-90.02913592921607, -0.0018241268170468073, 2.7262254927693466]
  scale: 1.0