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: [5.94649463891983e-07, -2.60770320892334e-07, -0.027995586395263672]
  rpy: [5.346554449472765e-05, -5.99434777094406e-07, 89.99999999999972]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_126
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  rpy: [-90.3630919516867, -1.0757923166001087, -5.226763629768296]
  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_037
  xyz: [-0.5315791964530945, 0.031075498089194298, 0.814786970615387]
  rpy: [-89.66927959634988, 0.6796272479213972, 7.341375454833448]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_045
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  rpy: [97.62884094798422, 75.30379439023469, 94.39051107423256]
  scale: 1.0

- object_id: active_perception/omni_objects/soap/soap_037
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  rpy: [-108.511776341796, -6.646069631444614, 89.90623948073201]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_112
  xyz: [-0.05712686479091644, -0.15480010211467743, 0.7813110947608948]
  rpy: [-89.86741301961777, 4.103209820713107, 3.256174707801316]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_118
  xyz: [-0.08118802309036255, 0.14573083817958832, 0.42992955446243286]
  rpy: [-90.02356181457937, 2.083041161861455, 2.082444154658929]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_040
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  scale: 1.0