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: [-1.566378876035886e-05, 4.895337608644847e-06, 90.00001931869036]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_116
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  rpy: [-72.23347068659766, 2.065125200327984, 175.29657823111512]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_061
  xyz: [-0.41950568556785583, -0.056041132658720016, 0.49279364943504333]
  rpy: [-71.0108388931684, 75.18730162331373, 6.596427314754241]
  scale: 1.0

- object_id: active_perception/omni_objects/waffle/waffle_042
  xyz: [-0.3934590816497803, 0.05332218483090401, 0.48099663853645325]
  rpy: [53.21807762377857, 84.83880892284897, 96.71033227664945]
  scale: 1.0

- object_id: active_perception/omni_objects/bottle/bottle_054
  xyz: [0.6275076270103455, -0.191462904214859, 0.49639326333999634]
  rpy: [-90.16644570764751, 61.49017321959278, -1.2451177327569494]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_043
  xyz: [0.021427584812045097, -0.031046735122799873, 0.47633904218673706]
  rpy: [-95.76861232292471, -81.10295998848093, -80.80716665799598]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_037
  xyz: [-0.08802803605794907, -0.17063580453395844, 0.48364877700805664]
  rpy: [-41.22352326873257, -75.96715071663306, -59.23442182044925]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_039
  xyz: [-0.7640525102615356, 0.01671159639954567, 0.4906308948993683]
  rpy: [-61.507278454203046, 28.057819582239755, 87.70141960578768]
  scale: 1.0