diff --git a/cfg/active_grasp.yaml b/cfg/active_grasp.yaml
index 3d1742e..742c3cd 100644
--- a/cfg/active_grasp.yaml
+++ b/cfg/active_grasp.yaml
@@ -2,7 +2,7 @@ bt_sim:
   gui: False
   cam_noise: False
   gripper_force: 10
-  scene: mustard1.yaml
+  scene: mustard.yaml
 
 grasp_controller:
   base_frame_id: panda_link0
diff --git a/cfg/scenes/kitchen1.yaml b/cfg/scenes/kitchen.yaml
similarity index 100%
rename from cfg/scenes/kitchen1.yaml
rename to cfg/scenes/kitchen.yaml
diff --git a/cfg/scenes/kitchen2.yaml b/cfg/scenes/kitchen2.yaml
deleted file mode 100644
index 5b53174..0000000
--- a/cfg/scenes/kitchen2.yaml
+++ /dev/null
@@ -1,13 +0,0 @@
-center: [0.5, 0.05, 0.2]
-q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
-objects:
-- object_id: 004_sugar_box
-  xyz: [-0.04, -0.03, 0.0]
-  rpy: [0, 0, 30]
-- object_id: 008_pudding_box
-  xyz: [-0.02, -0.06, 0.19]
-  rpy: [0, 0, 45]
-- object_id: 010_potted_meat_can
-  xyz: [0.04, 0.06, 0.0]
-  rpy: [0, 0, 60]
-  scale: 0.9
diff --git a/cfg/scenes/mustard1.yaml b/cfg/scenes/mustard.yaml
similarity index 89%
rename from cfg/scenes/mustard1.yaml
rename to cfg/scenes/mustard.yaml
index 1a986ce..c1a69a9 100644
--- a/cfg/scenes/mustard1.yaml
+++ b/cfg/scenes/mustard.yaml
@@ -4,3 +4,4 @@ objects:
 - object_id: 006_mustard_bottle
   xyz: [0.0, 0.1, 0.0]
   rpy: [0, 0, -50]
+  randomize: True
diff --git a/cfg/scenes/mustard2.yaml b/cfg/scenes/mustard2.yaml
index 9a97dbc..0f5cf26 100644
--- a/cfg/scenes/mustard2.yaml
+++ b/cfg/scenes/mustard2.yaml
@@ -4,3 +4,5 @@ objects:
 - object_id: 006_mustard_bottle
   xyz: [0.0, 0.1, 0.0]
   rpy: [0, 0, 130]
+  randomize: True
+
diff --git a/src/active_grasp/simulation.py b/src/active_grasp/simulation.py
index 41c129f..8b6f597 100644
--- a/src/active_grasp/simulation.py
+++ b/src/active_grasp/simulation.py
@@ -178,12 +178,14 @@ class CustomScene(Scene):
         self.load_config()
         self.load_support(self.center)
         for object in self.scene["objects"]:
-            self.load_object(
-                self.get_ycb_urdf_path(object["object_id"]),
-                Rotation.from_euler("xyz", object["rpy"], degrees=True),
-                self.center + np.asarray(object["xyz"]),
-                object.get("scale", 1),
-            )
+            urdf = self.get_ycb_urdf_path(object["object_id"])
+            ori = Rotation.from_euler("xyz", object["rpy"], degrees=True)
+            pos = self.center + np.asarray(object["xyz"])
+            scale = object.get("scale", 1)
+            if object.get("randomize", False):
+                ori = Rotation.from_euler("z", rng.uniform(0, 2 * np.pi))
+                pos[:2] += rng.uniform(-0.05, 0.05, 2)
+            self.load_object(urdf, ori, pos, scale)
         for _ in range(60):
             p.stepSimulation()