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/sofa/sofa_013
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  rpy: [0.05739630869657317, 0.5148356314022167, 89.41330882882043]
  scale: 1.0

- object_id: active_perception/omni_objects/ginger/ginger_039
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- object_id: active_perception/omni_objects/banana/banana_045
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  rpy: [169.8079411756232, 46.17706114684098, 72.27712648318085]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_104
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  rpy: [-91.56152468213975, -2.877920684811863, -7.439069492967121]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_037
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  rpy: [29.262632322095165, -40.128608095320764, 76.02288411687448]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_041
  xyz: [0.12059629708528519, 0.012605194933712482, 0.46694907546043396]
  rpy: [-119.03362022801471, -13.575896696852725, 91.79438443870605]
  scale: 1.0

- object_id: active_perception/omni_objects/apple/apple_063
  xyz: [0.14607124030590057, 0.17213895916938782, 0.4606384038925171]
  rpy: [-142.10509569144702, 35.501572762847275, 2.5934416089169408]
  scale: 1.0

- object_id: active_perception/omni_objects/knife/knife_031
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  rpy: [3.450972493880802, -86.5201081755522, -159.20968146974403]
  scale: 1.0