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/table/table_028
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- object_id: active_perception/omni_objects/lemon/lemon_031
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- object_id: active_perception/omni_objects/peanut/peanut_031
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  scale: 1.0

- object_id: active_perception/omni_objects/walnut/walnut_038
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- object_id: active_perception/omni_objects/shrimp/shrimp_041
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  rpy: [129.55259844948358, -77.76462111814575, 103.28967183022547]
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- object_id: active_perception/omni_objects/tomato/tomato_029
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  rpy: [-112.40676696495292, -52.80353597771883, 29.55512218670995]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_043
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