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/chair/chair_028
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  rpy: [-0.07994571002948037, 0.8314539795609394, 89.70485969640694]
  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_038
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  rpy: [127.16792087282587, 80.61826385197351, -111.66321733771895]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_115
  xyz: [0.019356131553649902, 0.036829881370067596, 0.30042916536331177]
  rpy: [-61.35243712211497, -6.301655748211146, -79.76227457030963]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_044
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  rpy: [-32.52510307752366, 23.868392288462285, 70.04680686713814]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_039
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  rpy: [100.64671618181639, -62.52198349398315, -0.5001802603456371]
  scale: 1.0

- object_id: active_perception/omni_objects/corn/corn_030
  xyz: [0.018260378390550613, -0.014711788855493069, 0.31802812218666077]
  rpy: [100.37465466713259, 41.48045952690494, -173.7940502383619]
  scale: 1.0

- object_id: active_perception/omni_objects/lipstick/lipstick_031
  xyz: [0.10098665952682495, 0.04157233238220215, 0.3031448423862457]
  rpy: [103.21225819491836, 34.12240170956385, -165.39252814863215]
  scale: 1.0

- object_id: active_perception/omni_objects/bowl/bowl_017
  xyz: [0.10205013304948807, 0.06564881652593613, 0.351503849029541]
  rpy: [-104.23549808997157, 10.00642602963308, 82.52174266964474]
  scale: 1.0