diff --git a/cfg/scenes/kitchen.yaml b/cfg/scenes/scene3.yaml
similarity index 54%
rename from cfg/scenes/kitchen.yaml
rename to cfg/scenes/scene3.yaml
index ad78aa6..60b0e36 100644
--- a/cfg/scenes/kitchen.yaml
+++ b/cfg/scenes/scene3.yaml
@@ -1,13 +1,15 @@
 center: [0.5, 0.05, 0.35]
-q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
 objects:
-- object_id: 004_sugar_box
+- object_id: ycb/004_sugar_box
   xyz: [-0.12, -0.05, 0.0]
   rpy: [0, 0, 30]
-- object_id: 010_potted_meat_can
+  randomize: {rot: 5, pos: [0.01, 0.005, 0]}
+- object_id: ycb/010_potted_meat_can
   xyz: [-0.1, 0.1, 0.0]
   rpy: [0, 0, 75]
-- object_id: 024_bowl
+  randomize: {rot: 5, pos: [0.005, 0.01, 0]}
+- object_id: ycb/024_bowl
   xyz: [0.0, 0.0, 0.0]
   rpy: [0, 0, 0]
   scale: 0.8
+q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]