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_003
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- object_id: active_perception/omni_objects/peanut/peanut_028
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- object_id: active_perception/omni_objects/lemon/lemon_032
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  scale: 1.0

- object_id: active_perception/omni_objects/corn/corn_032
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  rpy: [48.46180269260948, -28.01573846503888, -112.6284030210062]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_034
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- object_id: active_perception/omni_objects/biscuit/biscuit_126
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  rpy: [85.25319261613237, 49.058959787035285, 95.05644788003877]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_042
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  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_119
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  rpy: [-3.800669453706906, -3.490097957646403, -89.89036951342922]
  scale: 1.0