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: [0.06970140889905814, -0.12070504338968069, 89.49373134578609]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_034
  xyz: [-0.10782050341367722, -0.1242535337805748, 0.834889829158783]
  rpy: [89.14071722271574, -59.11825736274696, 179.94242709810925]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_112
  xyz: [0.1548844277858734, 0.09739700704813004, 0.8287165760993958]
  rpy: [-94.39028928313343, -17.209338442588066, 0.3071907644498025]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_054
  xyz: [0.080324187874794, -0.11180605739355087, 0.8269708156585693]
  rpy: [-95.17707873773132, 25.0171236138028, -21.04496268680013]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_033
  xyz: [0.0793667584657669, 0.03589707612991333, 0.8356848955154419]
  rpy: [73.97517747531721, 59.059261487375245, 163.72533890517684]
  scale: 1.0

- object_id: active_perception/omni_objects/corn/corn_031
  xyz: [0.012587593868374825, 0.12936708331108093, 0.8284088969230652]
  rpy: [101.5712591808141, -5.097176634127458, -177.42220250087314]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_054
  xyz: [-0.08698488026857376, -0.053261253982782364, 0.8295174241065979]
  rpy: [88.34424901274403, -34.06818172451939, -178.89566860176694]
  scale: 1.0