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_027
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  rpy: [-0.15156778854851508, -0.12079690350746845, 90.13117452191096]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_040
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  rpy: [-107.27428525613796, -81.01425187012624, 157.47745505888182]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_115
  xyz: [-0.14044073224067688, 0.029028883203864098, 0.8513619303703308]
  rpy: [-78.97120558875511, 49.30008560032412, 0.3206772464266765]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_041
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  rpy: [156.666455741744, 80.05751657322321, -102.09442783263339]
  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_030
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  rpy: [-90.69629087591525, 15.641370437678678, -1.2769057438064422]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_126
  xyz: [-0.021710237488150597, -0.27190449833869934, 0.8526045680046082]
  rpy: [24.527143782306766, -83.92829419143148, -118.59965663822351]
  scale: 1.0