center: [0.45, 0.0, 0.0]
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
objects:

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- object_id: active_perception/omni_objects/cup/cup_034
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- object_id: active_perception/omni_objects/biscuit/biscuit_120
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- object_id: active_perception/omni_objects/biscuit/biscuit_108
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- object_id: active_perception/omni_objects/ginger/ginger_036
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