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_027
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  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_039
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  rpy: [-179.61877980675678, -84.29259657733192, 124.80951678530789]
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- object_id: active_perception/omni_objects/egg/egg_044
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  rpy: [-88.48399247170794, -7.115042097096817, -14.620474827238613]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_122
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  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_045
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  rpy: [-143.35303937178753, -15.124144186236883, 97.76556084699185]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_126
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  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_030
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  rpy: [-55.30420854250822, 30.343779809461168, 112.46407656838485]
  scale: 1.0