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_007
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- object_id: active_perception/omni_objects/shrimp/shrimp_045
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- object_id: active_perception/omni_objects/cup/cup_039
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  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_118
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- object_id: active_perception/omni_objects/lipstick/lipstick_029
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- object_id: active_perception/omni_objects/biscuit/biscuit_112
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  rpy: [4.121849908787732, -3.231193764949621, -89.71746110512382]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_124
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  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_113
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  scale: 1.0