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
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- object_id: active_perception/omni_objects/cup/cup_035
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- object_id: active_perception/omni_objects/popcorn/popcorn_038
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  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_044
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  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_035
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- object_id: active_perception/omni_objects/apple/apple_067
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  rpy: [-0.42652625985045484, 1.3601230141572034, -79.71302783587161]
  scale: 1.0

- object_id: active_perception/omni_objects/waffle/waffle_040
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  scale: 1.0

- object_id: active_perception/omni_objects/soap/soap_037
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  scale: 1.0