center: [0.45, 0.0, 0.20]
q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
objects:
- object_id: 019_pitcher_base
  xyz: [0, 0.1, 0]
  rpy: [0, 0, 60]
  scale: 1.0