center: [0.5, 0.05, 0.35]
q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
objects:
- object_id: 004_sugar_box
  xyz: [-0.12, -0.05, 0.0]
  rpy: [0, 0, 30]
- object_id: 010_potted_meat_can
  xyz: [-0.1, 0.1, 0.0]
  rpy: [0, 0, 75]
- object_id: 024_bowl
  xyz: [0.0, 0.0, 0.0]
  rpy: [0, 0, 0]
  scale: 0.8