diff --git a/cfg/scenes/scene1.yaml b/cfg/scenes/scene1.yaml
index 9ca2266..fd94019 100644
--- a/cfg/scenes/scene1.yaml
+++ b/cfg/scenes/scene1.yaml
@@ -1,6 +1,6 @@
 center: [0.5, 0.2, 0.25]
 objects:
-- object_id: 006_mustard_bottle
+- object_id: ycb/006_mustard_bottle
   xyz: [0.0, 0.0, 0.0]
   rpy: [0, 0, -50]
   randomize: {rot: 5, pos: 0.02}
diff --git a/src/active_grasp/simulation.py b/src/active_grasp/simulation.py
index 8150b96..d99a217 100644
--- a/src/active_grasp/simulation.py
+++ b/src/active_grasp/simulation.py
@@ -126,14 +126,11 @@ class YamlScene(Scene):
         self.length = 0.3
         self.origin = self.center - np.r_[0.5 * self.length, 0.5 * self.length, 0.0]
 
-    def get_urdf_path(self, model_name):
-        return assets_dir / "ycb_subset" / model_name / "model.urdf"
-
     def generate(self, rng):
         self.load_config()
         self.add_support(self.center)
         for object in self.scene["objects"]:
-            urdf = self.get_urdf_path(object["object_id"])
+            urdf = assets_dir / object["object_id"] / "model.urdf"
             ori = Rotation.from_euler("xyz", object["rpy"], degrees=True)
             pos = self.center + np.asarray(object["xyz"])
             scale = object.get("scale", 1)