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: [1.0174699127674103e-07, 4.367902874946594e-07, 5.960464477539063e-08]
  rpy: [90.00054092342596, 4.903355957474547e-05, -0.00018102054625925042]
  scale: 1.0

- object_id: active_perception/omni_objects/corn/corn_032
  xyz: [0.42222869396209717, -0.063190758228302, 1.0121554136276245]
  rpy: [17.729128797274555, 1.0417568547395766, -86.55665360780199]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_039
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  rpy: [87.95451967585805, 18.468576541001323, -93.62027652134375]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_112
  xyz: [0.3912886679172516, -0.1729152649641037, 0.157847061753273]
  rpy: [-11.060992117353337, 1.5122589662837376, -90.10968492264126]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_060
  xyz: [0.6156103610992432, 0.14927257597446442, 0.17193274199962616]
  rpy: [4.245031648564269, -0.7777295493769095, -90.44649771610584]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_040
  xyz: [0.23181280493736267, -0.18762226402759552, 1.0706110000610352]
  rpy: [19.083330411241466, 11.11856345179577, -92.24899884529843]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_037
  xyz: [-0.6357179880142212, 0.10920548439025879, 0.16479191184043884]
  rpy: [-0.39039841056996427, -13.150487061557385, -90.13552920473353]
  scale: 1.0