center: [0.45, 0.0, 0.25]
q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
objects:
- object_id: ycb/006_mustard_bottle
  xyz: [0.0, +0.1, 0.1]
  rpy: [0, 0, 0]
  scale: 0.8
- object_id: active_perception/blender_cabinet
  xyz: [-0.1, -0.2, 0.02]
  rpy: [0, 0, 0]
  scale: 1.0