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/popcorn/popcorn_039
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- object_id: active_perception/omni_objects/bowl/bowl_016
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  scale: 1.0

- object_id: active_perception/omni_objects/tomato/tomato_028
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- object_id: active_perception/omni_objects/peanut/peanut_029
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  rpy: [-97.34800098942034, -74.47912785794641, 84.76341171327799]
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- object_id: active_perception/omni_objects/biscuit/biscuit_120
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  scale: 1.0

- object_id: active_perception/omni_objects/lemon/lemon_031
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  rpy: [-114.05450133257249, 20.219031264216614, -25.81039373022322]
  scale: 1.0