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async def main():
    objects = await vision.get_object_point_clouds("cam-1")
    obj = max(objects, key=lambda o: len(o.point_cloud))
    obj_pose = PoseInFrame(
        reference_frame="cam-1",
        pose=obj.geometries.geometries[0].center
    )
    await gripper.open()
    await motion.move(
        component_name="gripper-1",
        destination=obj_pose
    )