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_026
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  rpy: [90.00002897804622, -1.8158422151300575e-05, 6.109725152735613e-05]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_067
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  rpy: [-3.201296456733112, 1.7491890394040877, 149.33007607941047]
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- object_id: active_perception/omni_objects/shrimp/shrimp_041
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  rpy: [165.14453769227467, -84.97187069437928, 144.84707126956232]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_031
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  rpy: [-33.45608213910701, 22.53856748303896, -118.37233762750927]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_045
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  rpy: [91.24897283628302, -24.514182641373456, 94.90132291905799]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_040
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  rpy: [42.06346051255791, -2.1031031071643898, -81.23272754752598]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_028
  xyz: [-0.1858048141002655, -0.021027086302638054, 0.7284424304962158]
  rpy: [-92.28582885150854, -12.256834127349462, -94.05304153765266]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_037
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  rpy: [-125.22731430051984, -13.933053284996461, -106.63840768987119]
  scale: 1.0