center: [0.4, 0.1, 0.2]
q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
objects:
- object_id: pot
  scale: 0.06
  xyz: [-0.05, -0.05, 0.08]
  rpy: [-80, 0, -20]