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: [6.891787052154541e-06, 1.5517696738243103e-05, 0.00045686960220336914]
  rpy: [89.91734498502225, 5.55107374285519e-05, -0.03731576212480945]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_041
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  rpy: [-88.57617915059372, -10.582436738382784, -101.12113939745639]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_028
  xyz: [-0.06307639926671982, -0.12995965778827667, 0.11220840364694595]
  rpy: [94.99809979679789, -17.432021683543553, -84.31408017834184]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_044
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  rpy: [87.63428611105412, -51.884968365048884, -18.58761962793746]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_049
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  rpy: [-12.379645932945758, 20.28000019503847, -87.25695701676389]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_043
  xyz: [0.17818380892276764, -0.08549604564905167, 0.12484631687402725]
  rpy: [-89.23188550664186, -38.367573677744396, 80.35952544402103]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_030
  xyz: [-0.11728330701589584, -0.06884848326444626, 1.232861042022705]
  rpy: [15.278996077764019, 1.3877147189904246, -90.45769228109397]
  scale: 1.0

- object_id: active_perception/omni_objects/corn/corn_031
  xyz: [0.07551814615726471, -0.02466253750026226, 1.2308120727539062]
  rpy: [-23.777426219258455, 4.026314447717023, -91.12315067406652]
  scale: 1.0