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_025
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  rpy: [90.63608317460479, -0.1391967981979497, 0.013518401927398995]
  scale: 1.0

- object_id: active_perception/omni_objects/garlic/garlic_032
  xyz: [0.009108941070735455, -0.007731622084975243, 0.5099620223045349]
  rpy: [11.822130560736476, -5.537197603625969, -91.53292173001977]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_103
  xyz: [0.015503761358559132, 0.15643654763698578, 0.033399783074855804]
  rpy: [-0.13556717105266786, -3.230135612663024, -82.42630242108467]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_030
  xyz: [0.004499285947531462, -0.10530705749988556, 0.5072919130325317]
  rpy: [-93.23776620755844, -17.786734204329036, -40.84755032193695]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_040
  xyz: [-0.17774489521980286, -0.02097119390964508, 0.5090992450714111]
  rpy: [82.56669281782712, 55.98076675349005, -74.3774875422343]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_030
  xyz: [-0.01911872811615467, 0.051600467413663864, 0.016784118488430977]
  rpy: [0.8808972273213228, 0.013557981807707615, -90.02529654408413]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_037
  xyz: [0.05458124354481697, 0.2030208557844162, 0.018712038174271584]
  rpy: [-3.5170643160302473, 6.451280449399937, -91.21962108614161]
  scale: 1.0