center: [0.5, 0.0, 0.25]
q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
objects:
- object_id: ycb/006_mustard_bottle
  xyz: [0.0, 0.05, 0.05]
  rpy: [0, 0, -45]
  scale: 0.5
- object_id: active_perception/cabinet2
  xyz: [0.1, 0.0, 0.0]
  rpy: [0, 0, 45]
  scale: 0.25