center: [0.5, 0.05, 0.2]
q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
objects:
- object_id: 004_sugar_box
  xyz: [-0.04, -0.03, 0.0]
  rpy: [0, 0, 30]
- object_id: 008_pudding_box
  xyz: [-0.02, -0.06, 0.19]
  rpy: [0, 0, 45]
- object_id: 010_potted_meat_can
  xyz: [0.04, 0.03, 0.0]
  rpy: [0, 0, 60]