center: [0.45, 0.0, 0.0]
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
objects:

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- object_id: active_perception/omni_objects/peanut/peanut_028
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- object_id: active_perception/omni_objects/biscuit/biscuit_127
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- object_id: active_perception/omni_objects/lemon/lemon_029
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- object_id: active_perception/omni_objects/shrimp/shrimp_039
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- object_id: active_perception/omni_objects/bottle/bottle_056
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- object_id: active_perception/omni_objects/egg/egg_049
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- object_id: active_perception/omni_objects/biscuit/biscuit_109
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