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: [-0.1393382947404613, -0.011972274683030686, 90.63608131127356]
  scale: 1.0

- object_id: active_perception/omni_objects/garlic/garlic_032
  xyz: [0.009108941070735455, -0.007731622084975243, 0.5099620223045349]
  rpy: [-91.55966412725769, 11.965773382421203, 5.215730171337874]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_103
  xyz: [0.015503761358559132, 0.15643654763698578, 0.033399783074855804]
  rpy: [-82.43804224635487, -0.5599028323815638, 3.1841744119499342]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_030
  xyz: [0.004499285947531462, -0.10530705749988556, 0.5072919130325317]
  rpy: [20.38418884312026, -39.788347883194646, -94.01330960730249]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_040
  xyz: [-0.17774489521980286, -0.02097119390964508, 0.5090992450714111]
  rpy: [32.703875769295365, 79.6856642456661, 66.15599461192667]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_030
  xyz: [-0.01911872811615467, 0.051600467413663864, 0.016784118488430977]
  rpy: [-90.02529953338993, 0.8808911555012701, -0.01394693426783045]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_037
  xyz: [0.05458124354481697, 0.2030208557844162, 0.018712038174271584]
  rpy: [-91.21436509010519, -3.653300847626802, -6.375340382259449]
  scale: 1.0