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_009
  xyz: [6.882939487695694e-06, 1.5208497643470764e-05, 0.00045680999755859375]
  rpy: [3.750856185415586e-06, 0.037324187229930195, 89.91739326488607]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_028
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  rpy: [-148.24856945929807, 69.04528586141025, 87.52083437556807]
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- object_id: active_perception/omni_objects/egg/egg_042
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  rpy: [-92.97949549293465, -10.205129049200245, -21.712106365261636]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_121
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  rpy: [73.9255705181837, 0.5368007149203335, 4.242723491981479]
  scale: 1.0

- object_id: active_perception/omni_objects/garlic/garlic_032
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  rpy: [-87.49109724280385, 11.074442648270393, 3.0342146343837313]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_118
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  rpy: [-89.89223477417522, 1.8422587923035212, 1.9756890477848215]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_130
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  rpy: [0.8349331967528034, 0.24434528090203786, 3.05595422204527]
  scale: 1.0

- object_id: active_perception/omni_objects/carrot/carrot_040
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  rpy: [-103.92358692034723, -68.71027144476133, 30.070196938244592]
  scale: 1.0