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: [88.61169780502719, -0.0043158076600190096, 0.9605627428257208]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_045
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  rpy: [31.90638573607178, -13.36899161862683, -81.85168906587894]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_062
  xyz: [0.004931948613375425, -0.04235460236668587, 0.9079228639602661]
  rpy: [43.77203131873986, -44.326326802267836, -75.11971435908951]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_067
  xyz: [-0.0349465012550354, 0.038589607924222946, 0.9212875366210938]
  rpy: [-16.653779491226327, 15.61535520694765, -89.06418645704353]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_029
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  rpy: [-103.87130409680026, -69.77432647216871, 78.45781843035759]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_054
  xyz: [0.08972875028848648, -0.039889585226774216, 0.9009467363357544]
  rpy: [18.529642424143738, 19.066201072769108, -90.9195440388725]
  scale: 1.0

- object_id: active_perception/omni_objects/ginger/ginger_040
  xyz: [-0.04692373424768448, -0.08717404305934906, 0.8835301399230957]
  rpy: [-7.758600398730402, -1.5482469884668202, -123.1068675390583]
  scale: 1.0