center: [0.5, 0.05, 0.30]
q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
objects:
- object_id: ycb/004_sugar_box
  xyz: [-0.1, 0.0, 0.0]
  rpy: [0, 0, 15]
  randomize: {rot: 5, pos: [0, 0.01, 0]}
- object_id: ycb/025_mug
  xyz: [0.01, 0.02, 0.0]
  rpy: [0, 0, 0]
  randomize: {rot: 30, pos: [0.01, 0.01, 0]}