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_026
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- object_id: active_perception/omni_objects/biscuit/biscuit_116
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- object_id: active_perception/omni_objects/biscuit/biscuit_127
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- object_id: active_perception/omni_objects/apple/apple_064
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- object_id: active_perception/omni_objects/peanut/peanut_031
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- object_id: active_perception/omni_objects/cup/cup_033
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  rpy: [-89.37275840517046, 5.091807926516897, 7.180634187386449]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_037
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- object_id: active_perception/omni_objects/walnut/walnut_038
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  rpy: [-105.22258343017063, -86.0379701661958, -170.55407198000196]
  scale: 1.0