diff --git a/cfg/active_grasp.yaml b/cfg/active_grasp.yaml
index 5c38f8f..97f915a 100644
--- a/cfg/active_grasp.yaml
+++ b/cfg/active_grasp.yaml
@@ -2,8 +2,8 @@ bt_sim:
   gui: True
   gripper_force: 10
   # scene: random
-  scene: manual
-  # scene: $(find active_grasp)/cfg/sim/challenging_scene_2.yaml
+  # scene: manual
+  scene: $(find active_grasp)/cfg/sim/challenging_scene_3.yaml
 
 hw:
   roi_calib_file: $(find active_grasp)/cfg/hw/T_base_tag.txt
diff --git a/cfg/sim/challenging_scene_3.yaml b/cfg/sim/challenging_scene_3.yaml
new file mode 100644
index 0000000..d22a81a
--- /dev/null
+++ b/cfg/sim/challenging_scene_3.yaml
@@ -0,0 +1,11 @@
+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: ycb/006_mustard_bottle
+  xyz: [-0.1, 0.13, 0.1]
+  rpy: [0, 0, 90]
+  scale: 0.8
+- object_id: active_perception/box2
+  xyz: [0.05, 0.15, 0.3]
+  rpy: [90, 0, -10]
+  scale: 1.0