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_005
  xyz: [2.6065390557050705e-07, -9.5367431640625e-07, -0.006000012159347534]
  rpy: [89.99995170327294, 1.4295939065802749e-05, -3.818277115757787e-06]
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- object_id: active_perception/omni_objects/egg/egg_044
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- object_id: active_perception/omni_objects/apple/apple_065
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  rpy: [75.45108291067747, -5.934398248792731, -83.17961701844656]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_056
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  rpy: [-66.82345975629892, -27.674854506541543, -139.00599347332684]
  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_029
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  rpy: [-30.38201493004858, -18.37587914945675, -107.32507151948337]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_038
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  rpy: [168.7661706626494, -71.78484725517765, 20.49499804559263]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_126
  xyz: [0.052473876625299454, 0.09548627585172653, 0.10674350708723068]
  rpy: [17.357724819352917, 43.97993486890253, -48.620182963172496]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_129
  xyz: [0.04482492804527283, 0.09507423639297485, 0.7573024034500122]
  rpy: [0.6126673961000704, -1.1510548685195878, -89.99995551544114]
  scale: 1.0