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
  xyz: [4.6584755182266235e-06, 1.1278316378593445e-05, -0.0165444016456604]
  rpy: [89.91797284067172, 5.045708030630591e-05, -0.03720118038309635]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_125
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  rpy: [-129.01150343452602, -48.385958826483176, -126.48722405572263]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_111
  xyz: [0.11794905364513397, 0.15393933653831482, 1.1979782581329346]
  rpy: [0.08907577731695476, -0.03223058057474845, -89.99876752751116]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_059
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  rpy: [-16.46234255180104, -9.626509933248736, -92.49306680312868]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_061
  xyz: [-0.06043992191553116, -0.05652777478098869, 1.194550633430481]
  rpy: [-0.13062847741915204, 0.0672503793662952, -89.99995714572432]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_031
  xyz: [0.1574958860874176, 0.10855299234390259, 1.1948202848434448]
  rpy: [6.305287486390248, 0.9294633461696703, 95.56222740327954]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_037
  xyz: [0.08715704083442688, 0.05228457599878311, 1.224064588546753]
  rpy: [2.1685058212593034, -7.228357550355905, -89.78748341369312]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_037
  xyz: [-0.16509822010993958, 0.1377595067024231, 1.1983356475830078]
  rpy: [121.11251842630224, -35.37429137878435, -72.39950133466662]
  scale: 1.0