center: [0.45, 0.0, 0.20]
objects:
- object_id: box
  scale: 1.5
  xyz: [-0.1, -0.15, 0.3]
  rpy: [0, 90, 0]
- object_id: ycb/010_potted_meat_can
  scale: 0.8
  xyz: [0.0, 0.0, 0.305]
  rpy: [0, 0, 0]
  randomize: {rot: 40, pos: [0, 0.05, 0]}
q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.83, 0.79]