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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- object_id: active_perception/omni_objects/waffle/waffle_040
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- object_id: active_perception/omni_objects/popcorn/popcorn_038
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- object_id: active_perception/omni_objects/peanut/peanut_031
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- object_id: active_perception/omni_objects/biscuit/biscuit_129
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- object_id: active_perception/omni_objects/tomato/tomato_028
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  scale: 1.0

- object_id: active_perception/omni_objects/cup/cup_036
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