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
  xyz: [-0.0001453098957426846, -7.048249244689941e-06, 0.065243661403656]
  rpy: [90.00000965884205, 0.01017074898928994, 5.672475331846703e-06]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_038
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  rpy: [-4.170605098248601, -5.57135507540861, -60.721571561430515]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_106
  xyz: [-0.028744764626026154, 0.1762123852968216, 0.18911685049533844]
  rpy: [-68.80486599756232, -11.930943564632203, -140.84865463545702]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_059
  xyz: [-0.041953232139348984, -0.1760152131319046, 0.2651319205760956]
  rpy: [-2.43595509941092, -3.2222949942206465, -90.26130245075069]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_048
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  rpy: [-37.98835350642703, 1.6862519507107516, -96.31913382502613]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_029
  xyz: [-0.25493207573890686, -0.061150308698415756, 0.9992259740829468]
  rpy: [123.70111522372194, -85.95858071261038, -50.961966887381855]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_037
  xyz: [-0.21608518064022064, 0.08667658269405365, 1.000050663948059]
  rpy: [90.56460164786246, 24.14883165141145, -79.38305115226859]
  scale: 1.0

- object_id: active_perception/omni_objects/pear/pear_037
  xyz: [-0.08752449601888657, 0.22736015915870667, 1.0369553565979004]
  rpy: [73.27820476585441, 31.70511912655582, -118.32041007068324]
  scale: 1.0