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/table/table_027
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  rpy: [89.84075197983628, -0.00581131233622055, 0.016394574393712537]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_039
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  rpy: [-93.97362058506305, -34.99258393989258, -96.97234747269258]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_044
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  rpy: [-7.5046180559176445, 14.427573751187694, -88.44667104159767]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_122
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  rpy: [2.1314209348916187, -0.01655987875833397, -129.7723682296687]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_045
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  rpy: [-99.56687099689191, -38.293819710930606, -170.70500377594502]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_126
  xyz: [-0.15704573690891266, -0.39097821712493896, 0.7579376697540283]
  rpy: [-2.4250303441120664, 1.251917544859648, -89.96858826259266]
  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_030
  xyz: [0.0631551444530487, -0.03531681001186371, 0.7705153822898865]
  rpy: [131.9160137823781, -60.42106940500729, 5.629125111526386]
  scale: 1.0