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_001
  xyz: [-9.043142199516296e-07, -8.642673492431641e-07, 0.016625702381134033]
  rpy: [90.00001931869036, -1.5663790396106908e-05, -4.895332316201857e-06]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_116
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  rpy: [-179.4718930502988, -5.108735273309998, 72.1722105284982]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_061
  xyz: [-0.41950568556785583, -0.056041132658720016, 0.49279364943504333]
  rpy: [74.9646017153005, 11.763317497559962, -85.12549097849676]
  scale: 1.0

- object_id: active_perception/omni_objects/waffle/waffle_042
  xyz: [-0.3934590816497803, 0.05332218483090401, 0.48099663853645325]
  rpy: [90.87547936821878, 46.53136570229832, -85.5093796817296]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_054
  xyz: [0.6275076270103455, -0.191462904214859, 0.49639326333999634]
  rpy: [61.49179847681286, 1.098854869952065, -90.07946064086325]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_043
  xyz: [0.021427584812045097, -0.031046735122799873, 0.47633904218673706]
  rpy: [-66.86021312436378, 86.39519783052793, -104.31424749272354]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_037
  xyz: [-0.08802803605794907, -0.17063580453395844, 0.48364877700805664]
  rpy: [-82.73777499886002, 11.12766034141171, -79.28796112633479]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_039
  xyz: [-0.7640525102615356, 0.01671159639954567, 0.4906308948993683]
  rpy: [85.89569149493903, -60.36246403781887, -31.64580548089116]
  scale: 1.0