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
  xyz: [-1.6670674085617065e-07, 1.0989606380462646e-07, 0.016625672578811646]
  rpy: [90.00000000000081, -1.2719308620098278e-05, 7.285926295765355e-06]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_057
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  rpy: [-117.84740498269294, 0.41597538515113924, -91.47100628087826]
  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_028
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  rpy: [84.4908238067847, -15.750385166926307, -70.56544944073316]
  scale: 1.0

- object_id: active_perception/omni_objects/waffle/waffle_042
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  rpy: [-89.82819459585092, 3.264168418879808, -86.96278557225622]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_033
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  rpy: [-7.779565652396429, -41.27975990411281, -178.74739831307176]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_060
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  rpy: [39.40214175680661, 16.14393497525941, -92.76217688359695]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_038
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  rpy: [2.74185462290078, -0.8044976682842028, -90.74561427636156]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_037
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  rpy: [-61.03634053841928, -15.667263832647267, 86.53164816104128]
  scale: 1.0