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/lemon/lemon_030
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- object_id: active_perception/omni_objects/bottle/bottle_054
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  rpy: [91.1412934204376, 4.602920148578543, 179.08344329613286]
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- object_id: active_perception/omni_objects/biscuit/biscuit_117
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- object_id: active_perception/omni_objects/shrimp/shrimp_044
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  rpy: [22.21649773906437, -81.57997778215571, 166.12683610295235]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_039
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  rpy: [-133.30004650742177, 82.93308875929843, 80.47189564971055]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_047
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  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_039
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  rpy: [128.235614577335, 25.43277590984497, 168.45817084704075]
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