diff --git a/cfg/scenes/mustard2.yaml b/cfg/scenes/mustard2.yaml
deleted file mode 100644
index d1c8403..0000000
--- a/cfg/scenes/mustard2.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-center: [0.5, 0.1, 0.40]
-q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
-objects:
-- object_id: 006_mustard_bottle
-  xyz: [0.0, 0.1, 0.0]
-  rpy: [0, 0, 0]
-  randomize: True
-
diff --git a/cfg/scenes/scene1.yaml b/cfg/scenes/scene1.yaml
index 3cc6ad6..fc2ea3f 100644
--- a/cfg/scenes/scene1.yaml
+++ b/cfg/scenes/scene1.yaml
@@ -3,5 +3,5 @@ objects:
 - object_id: ycb/006_mustard_bottle
   xyz: [0.0, 0.0, 0.0]
   rpy: [0, 0, -50]
-  randomize: {rot: 5, pos: [0.02, 0.02, 0]}
+  randomize: {rot: 15, pos: [0.02, 0.02, 0]}
 q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
diff --git a/cfg/scenes/scene2.yaml b/cfg/scenes/scene2.yaml
new file mode 100644
index 0000000..425f1d5
--- /dev/null
+++ b/cfg/scenes/scene2.yaml
@@ -0,0 +1,12 @@
+center: [0.45, 0.0, 0.20]
+objects:
+- object_id: box
+  scale: 1.5
+  xyz: [-0.1, -0.15, 0.3]
+  rpy: [0, 90, 0]
+- object_id: ycb/010_potted_meat_can
+  scale: 0.8
+  xyz: [0.0, 0.0, 0.305]
+  rpy: [0, 0, 0]
+  randomize: {rot: 30, pos: [0, 0.05, 0]}
+q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.83, 0.79]