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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  rpy: [90.00002414836692, 6.78823373532088e-05, -7.0586644427778696e-06]
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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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  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_041
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  rpy: [-93.51569192647155, 37.39714933320805, -99.78031113902401]
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- object_id: active_perception/omni_objects/tomato/tomato_029
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  rpy: [-57.59875666207703, -11.063300092027893, -103.58017406123061]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_043
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  scale: 1.0