diff --git a/cfg/scene4.yaml b/cfg/scene4.yaml
new file mode 100644
index 0000000..e823535
--- /dev/null
+++ b/cfg/scene4.yaml
@@ -0,0 +1,7 @@
+center: [0.4, 0.1, 0.2]
+q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
+objects:
+- object_id: pot
+  scale: 0.06
+  xyz: [-0.05, -0.05, 0.08]
+  rpy: [-80, 0, -20]