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_039
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- object_id: active_perception/omni_objects/potato/potato_056
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- object_id: active_perception/omni_objects/tomato/tomato_030
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- object_id: active_perception/omni_objects/peanut/peanut_031
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