nbv_sim/cfg/sim/challenging_scene_1.yaml

center: [0.5, 0.0, 0.25]
q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
objects:
- object_id: ap_dataset/objects/apple
  xyz: [0.1, 0.0, 0.5]
  rpy: [90, 0, 0]
  scale: 1
# - object_id: ycb/006_mustard_bottle
#   xyz: [0.0, 0.0, 0.2]
#   rpy: [0, 0, 0]
#   scale: 1
- object_id: ap_dataset/occluders/blender_box_001
  xyz: [0.0, 0.0, 0.15]
  rpy: [90, 0, 0]
  scale: 1