center: [0.55, 0.0, 0.3]
objects:
- object_id: 003_cracker_box
  rpy: [0.0, 0.0, 0.0]
  xyz: [-0.08, 0.08, 0.002]
- object_id: 010_potted_meat_can
  rpy: [0.0, 0.0, 0.0]
  xyz: [0.0, 0.0, 0.002]
configuration: [0.0, -1.04, 0.17, -1.91, 0.0, 1.57, 0.79]