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: ycb/006_mustard_bottle
  xyz: [0.0, 0.0, 0.0]
  rpy: [0, 0, -50]
  randomize: {rot: 45, pos: [0.02, 0.02, 0]}