center: [0.5, 0.2, 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: [0.0, 0.0, 0.2]
  rpy: [90, 0, 0]
  scale: 0.001
- object_id: ap_dataset/occluders/flower_pot_021
  xyz: [0.0, 0.0, 0.2]
  rpy: [90, 0, 0]
  scale: 0.001