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
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  rpy: [1.6682474968673574e-05, -2.2138105827033333e-07, 90.00000965934548]
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- object_id: active_perception/omni_objects/biscuit/biscuit_130
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  rpy: [-89.01916659397718, 7.088556423132427, -0.20988236936297913]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_038
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  rpy: [-89.78657841856943, 5.535242828468354, -3.377300154259098]
  scale: 1.0

- object_id: active_perception/omni_objects/corn/corn_031
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  rpy: [-92.40136838717837, -24.794214421901234, -2.5600763868943064]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_038
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  rpy: [-10.064706080639622, 85.61391526812992, 133.44754719678656]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_063
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  rpy: [-68.67841761875496, 66.52073069297235, 28.47101812532952]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_067
  xyz: [0.4102552533149719, 0.1981661468744278, 1.2267792224884033]
  rpy: [-89.25428346866644, -5.315420208442645, -16.15571335302038]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_039
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  rpy: [-91.53876997084467, -3.1355513153685983, 8.058999636242032]
  scale: 1.0