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: [89.9079802319663, 6.430651142726411e-05, 0.010111446155748658]
  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_028
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  rpy: [72.86025257966456, -22.046176107471904, -81.3820314840762]
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- object_id: active_perception/omni_objects/biscuit/biscuit_112
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  scale: 1.0

- object_id: active_perception/omni_objects/garlic/garlic_033
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  rpy: [5.315933178163986, -4.219220355572896, -90.90586764621264]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_041
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  rpy: [-93.70689130594006, 32.14283812665585, -98.50327827730607]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_038
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  rpy: [-2.0692914860584923, 1.182344493558205, -90.04759501323699]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_036
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  rpy: [-16.2765508227352, 13.501131196530437, -83.45800555870038]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_064
  xyz: [0.06530366837978363, -0.3738926351070404, 0.8294923901557922]
  rpy: [-12.291448569338243, -36.776136171611654, -94.84251117081358]
  scale: 1.0