diff --git a/cfg/active_grasp.yaml b/cfg/active_grasp.yaml
index 993de53..1f51986 100644
--- a/cfg/active_grasp.yaml
+++ b/cfg/active_grasp.yaml
@@ -1,7 +1,7 @@
 bt_sim:
   gui: False
   cam_noise: True
-  scene: test1.yaml
+  scene: kitchen.yaml
 
 grasp_controller:
   base_frame_id: panda_link0
diff --git a/cfg/scenes/kitchen.yaml b/cfg/scenes/kitchen.yaml
new file mode 100644
index 0000000..ad78aa6
--- /dev/null
+++ b/cfg/scenes/kitchen.yaml
@@ -0,0 +1,13 @@
+center: [0.5, 0.05, 0.35]
+q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
+objects:
+- object_id: 004_sugar_box
+  xyz: [-0.12, -0.05, 0.0]
+  rpy: [0, 0, 30]
+- object_id: 010_potted_meat_can
+  xyz: [-0.1, 0.1, 0.0]
+  rpy: [0, 0, 75]
+- object_id: 024_bowl
+  xyz: [0.0, 0.0, 0.0]
+  rpy: [0, 0, 0]
+  scale: 0.8
diff --git a/cfg/scenes/test5.yaml b/cfg/scenes/test.yaml
similarity index 100%
rename from cfg/scenes/test5.yaml
rename to cfg/scenes/test.yaml
diff --git a/cfg/scenes/test4.yaml b/cfg/scenes/test4.yaml
deleted file mode 100644
index 225ed13..0000000
--- a/cfg/scenes/test4.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-center: [0.45, 0.0, 0.20]
-q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
-objects:
-- object_id: 019_pitcher_base
-  xyz: [0, 0.1, 0]
-  rpy: [0, 0, 30]
-  scale: 1.0