From c81c6f30a51fdf0d580ce3762272be800b18e932 Mon Sep 17 00:00:00 2001
From: KingMaZito <matteo.aneddama@icloud.com>
Date: Thu, 13 Apr 2023 23:25:10 +0200
Subject: [PATCH] ...

---
 CMakeLists.txt                                |  7 +-
 launch/integration.test                       |  2 +
 results/dummy/-1317123923/-1317123923.yaml    | 32 -------
 .../configs/-1317123923_panda_arm1.yaml       | 12 ---
 .../configs/-1317123923_panda_arm2.yaml       | 12 ---
 .../launch/panda_arm1_-1317123923.launch      | 57 ------------
 .../launch/panda_arm2_-1317123923.launch      | 57 ------------
 results/dummy/-1429757615/-1429757615.yaml    | 33 -------
 .../configs/-1429757615_panda_arm1.yaml       | 12 ---
 .../configs/-1429757615_panda_arm2.yaml       | 12 ---
 .../launch/panda_arm1_-1429757615.launch      | 57 ------------
 .../launch/panda_arm2_-1429757615.launch      | 57 ------------
 .../-1451657555.yaml}                         |  0
 .../configs/-1451657555_panda_arm1.yaml}      |  0
 .../configs/-1451657555_panda_arm2.yaml}      |  0
 .../launch/panda_arm1_-1451657555.launch}     |  4 +-
 .../launch/panda_arm2_-1451657555.launch}     |  4 +-
 results/dummy/-1797583301/-1797583301.yaml    | 32 -------
 .../configs/-1797583301_panda_arm1.yaml       | 12 ---
 .../configs/-1797583301_panda_arm2.yaml       | 12 ---
 .../launch/panda_arm1_-1797583301.launch      | 57 ------------
 .../launch/panda_arm2_-1797583301.launch      | 57 ------------
 results/dummy/-1805062065/-1805062065.yaml    | 32 -------
 .../configs/-1805062065_panda_arm1.yaml       | 12 ---
 .../configs/-1805062065_panda_arm2.yaml       | 12 ---
 .../launch/panda_arm1_-1805062065.launch      | 57 ------------
 .../launch/panda_arm2_-1805062065.launch      | 57 ------------
 results/dummy/-1808776340/-1808776340.yaml    | 33 -------
 .../configs/-1808776340_panda_arm1.yaml       | 12 ---
 .../configs/-1808776340_panda_arm2.yaml       | 12 ---
 .../launch/panda_arm1_-1808776340.launch      | 57 ------------
 .../launch/panda_arm2_-1808776340.launch      | 57 ------------
 results/dummy/-2018095925/-2018095925.yaml    | 33 -------
 .../configs/-2018095925_panda_arm1.yaml       | 12 ---
 .../configs/-2018095925_panda_arm2.yaml       | 12 ---
 .../launch/panda_arm1_-2018095925.launch      | 57 ------------
 .../launch/panda_arm2_-2018095925.launch      | 57 ------------
 results/dummy/-430424823/-430424823.yaml      | 77 ----------------
 results/dummy/1449337039/1449337039.yaml      | 33 -------
 .../configs/1449337039_panda_arm1.yaml        | 12 ---
 .../configs/1449337039_panda_arm2.yaml        | 12 ---
 .../launch/panda_arm1_1449337039.launch       | 57 ------------
 .../launch/panda_arm2_1449337039.launch       | 57 ------------
 results/dummy/1878181496/1878181496.yaml      | 32 -------
 .../configs/1878181496_panda_arm1.yaml        | 12 ---
 .../configs/1878181496_panda_arm2.yaml        | 12 ---
 .../launch/panda_arm1_1878181496.launch       | 57 ------------
 .../launch/panda_arm2_1878181496.launch       | 57 ------------
 results/dummy/2009508287/2009508287.yaml      | 32 -------
 .../configs/2009508287_panda_arm1.yaml        | 12 ---
 .../configs/2009508287_panda_arm2.yaml        | 12 ---
 .../launch/panda_arm1_2009508287.launch       | 57 ------------
 .../launch/panda_arm2_2009508287.launch       | 57 ------------
 results/dummy/2033083939/2033083939.yaml      | 33 -------
 .../configs/2033083939_panda_arm1.yaml        | 12 ---
 .../configs/2033083939_panda_arm2.yaml        | 12 ---
 .../launch/panda_arm1_2033083939.launch       | 57 ------------
 .../launch/panda_arm2_2033083939.launch       | 57 ------------
 .../2059996578.yaml}                          | 14 +--
 .../configs/2059996578_panda_arm1.yaml}       |  0
 .../configs/2059996578_panda_arm2.yaml}       |  0
 .../launch/panda_arm1_2059996578.launch}      |  4 +-
 .../launch/panda_arm2_2059996578.launch}      |  4 +-
 results/dummy/21093532/21093532.yaml          | 34 -------
 .../21093532/configs/21093532_panda_arm1.yaml | 12 ---
 .../21093532/configs/21093532_panda_arm2.yaml | 12 ---
 .../launch/panda_arm1_21093532.launch         | 57 ------------
 .../launch/panda_arm2_21093532.launch         | 57 ------------
 .../38428695.yaml}                            |  0
 .../configs/38428695_panda_arm1.yaml}         |  0
 .../configs/38428695_panda_arm2.yaml}         |  0
 .../launch/panda_arm1_38428695.launch}        |  4 +-
 .../launch/panda_arm2_38428695.launch}        |  4 +-
 .../configs/451266307_panda_arm1.yaml         | 12 ---
 .../configs/451266307_panda_arm2.yaml         | 12 ---
 .../launch/panda_arm1_451266307.launch        | 57 ------------
 .../launch/panda_arm2_451266307.launch        | 57 ------------
 results/dummy/77303307/77303307.yaml          | 33 -------
 .../77303307/configs/77303307_panda_arm1.yaml | 12 ---
 .../77303307/configs/77303307_panda_arm2.yaml | 12 ---
 .../launch/panda_arm1_77303307.launch         | 57 ------------
 .../launch/panda_arm2_77303307.launch         | 57 ------------
 results/dummy/794022642/794022642.yaml        | 33 -------
 .../configs/794022642_panda_arm1.yaml         | 12 ---
 .../configs/794022642_panda_arm2.yaml         | 12 ---
 .../launch/panda_arm1_794022642.launch        | 57 ------------
 .../launch/panda_arm2_794022642.launch        | 57 ------------
 .../883585462.yaml}                           |  0
 .../configs/883585462_panda_arm1.yaml}        |  0
 .../configs/883585462_panda_arm2.yaml}        |  0
 .../launch/panda_arm1_883585462.launch}       |  4 +-
 .../launch/panda_arm2_883585462.launch}       |  4 +-
 .../simple_base_implementation.cpp            |  4 +-
 src/mediator/base_calculation_mediator.cpp    | 91 ++++++++++++++++---
 test/mediator/test_base.cpp                   | 73 +++++++++++++++
 test/reader/test_bt.cpp                       | 30 ------
 test/reader/test_reader.cpp                   |  2 +-
 97 files changed, 184 insertions(+), 2505 deletions(-)
 delete mode 100644 results/dummy/-1317123923/-1317123923.yaml
 delete mode 100644 results/dummy/-1317123923/configs/-1317123923_panda_arm1.yaml
 delete mode 100644 results/dummy/-1317123923/configs/-1317123923_panda_arm2.yaml
 delete mode 100644 results/dummy/-1317123923/launch/panda_arm1_-1317123923.launch
 delete mode 100644 results/dummy/-1317123923/launch/panda_arm2_-1317123923.launch
 delete mode 100644 results/dummy/-1429757615/-1429757615.yaml
 delete mode 100644 results/dummy/-1429757615/configs/-1429757615_panda_arm1.yaml
 delete mode 100644 results/dummy/-1429757615/configs/-1429757615_panda_arm2.yaml
 delete mode 100644 results/dummy/-1429757615/launch/panda_arm1_-1429757615.launch
 delete mode 100644 results/dummy/-1429757615/launch/panda_arm2_-1429757615.launch
 rename results/dummy/{621087765/621087765.yaml => -1451657555/-1451657555.yaml} (100%)
 rename results/dummy/{-455104659/configs/-455104659_panda_arm1.yaml => -1451657555/configs/-1451657555_panda_arm1.yaml} (100%)
 rename results/dummy/{-455104659/configs/-455104659_panda_arm2.yaml => -1451657555/configs/-1451657555_panda_arm2.yaml} (100%)
 rename results/dummy/{-455104659/launch/panda_arm1_-455104659.launch => -1451657555/launch/panda_arm1_-1451657555.launch} (96%)
 rename results/dummy/{-455104659/launch/panda_arm2_-455104659.launch => -1451657555/launch/panda_arm2_-1451657555.launch} (96%)
 delete mode 100644 results/dummy/-1797583301/-1797583301.yaml
 delete mode 100644 results/dummy/-1797583301/configs/-1797583301_panda_arm1.yaml
 delete mode 100644 results/dummy/-1797583301/configs/-1797583301_panda_arm2.yaml
 delete mode 100644 results/dummy/-1797583301/launch/panda_arm1_-1797583301.launch
 delete mode 100644 results/dummy/-1797583301/launch/panda_arm2_-1797583301.launch
 delete mode 100644 results/dummy/-1805062065/-1805062065.yaml
 delete mode 100644 results/dummy/-1805062065/configs/-1805062065_panda_arm1.yaml
 delete mode 100644 results/dummy/-1805062065/configs/-1805062065_panda_arm2.yaml
 delete mode 100644 results/dummy/-1805062065/launch/panda_arm1_-1805062065.launch
 delete mode 100644 results/dummy/-1805062065/launch/panda_arm2_-1805062065.launch
 delete mode 100644 results/dummy/-1808776340/-1808776340.yaml
 delete mode 100644 results/dummy/-1808776340/configs/-1808776340_panda_arm1.yaml
 delete mode 100644 results/dummy/-1808776340/configs/-1808776340_panda_arm2.yaml
 delete mode 100644 results/dummy/-1808776340/launch/panda_arm1_-1808776340.launch
 delete mode 100644 results/dummy/-1808776340/launch/panda_arm2_-1808776340.launch
 delete mode 100644 results/dummy/-2018095925/-2018095925.yaml
 delete mode 100644 results/dummy/-2018095925/configs/-2018095925_panda_arm1.yaml
 delete mode 100644 results/dummy/-2018095925/configs/-2018095925_panda_arm2.yaml
 delete mode 100644 results/dummy/-2018095925/launch/panda_arm1_-2018095925.launch
 delete mode 100644 results/dummy/-2018095925/launch/panda_arm2_-2018095925.launch
 delete mode 100644 results/dummy/-430424823/-430424823.yaml
 delete mode 100644 results/dummy/1449337039/1449337039.yaml
 delete mode 100644 results/dummy/1449337039/configs/1449337039_panda_arm1.yaml
 delete mode 100644 results/dummy/1449337039/configs/1449337039_panda_arm2.yaml
 delete mode 100644 results/dummy/1449337039/launch/panda_arm1_1449337039.launch
 delete mode 100644 results/dummy/1449337039/launch/panda_arm2_1449337039.launch
 delete mode 100644 results/dummy/1878181496/1878181496.yaml
 delete mode 100644 results/dummy/1878181496/configs/1878181496_panda_arm1.yaml
 delete mode 100644 results/dummy/1878181496/configs/1878181496_panda_arm2.yaml
 delete mode 100644 results/dummy/1878181496/launch/panda_arm1_1878181496.launch
 delete mode 100644 results/dummy/1878181496/launch/panda_arm2_1878181496.launch
 delete mode 100644 results/dummy/2009508287/2009508287.yaml
 delete mode 100644 results/dummy/2009508287/configs/2009508287_panda_arm1.yaml
 delete mode 100644 results/dummy/2009508287/configs/2009508287_panda_arm2.yaml
 delete mode 100644 results/dummy/2009508287/launch/panda_arm1_2009508287.launch
 delete mode 100644 results/dummy/2009508287/launch/panda_arm2_2009508287.launch
 delete mode 100644 results/dummy/2033083939/2033083939.yaml
 delete mode 100644 results/dummy/2033083939/configs/2033083939_panda_arm1.yaml
 delete mode 100644 results/dummy/2033083939/configs/2033083939_panda_arm2.yaml
 delete mode 100644 results/dummy/2033083939/launch/panda_arm1_2033083939.launch
 delete mode 100644 results/dummy/2033083939/launch/panda_arm2_2033083939.launch
 rename results/dummy/{451266307/451266307.yaml => 2059996578/2059996578.yaml} (93%)
 rename results/dummy/{-1427321257/configs/-1427321257_panda_arm1.yaml => 2059996578/configs/2059996578_panda_arm1.yaml} (100%)
 rename results/dummy/{-1427321257/configs/-1427321257_panda_arm2.yaml => 2059996578/configs/2059996578_panda_arm2.yaml} (100%)
 rename results/dummy/{-430424823/launch/panda_arm1_-430424823.launch => 2059996578/launch/panda_arm1_2059996578.launch} (96%)
 rename results/dummy/{-430424823/launch/panda_arm2_-430424823.launch => 2059996578/launch/panda_arm2_2059996578.launch} (96%)
 delete mode 100644 results/dummy/21093532/21093532.yaml
 delete mode 100644 results/dummy/21093532/configs/21093532_panda_arm1.yaml
 delete mode 100644 results/dummy/21093532/configs/21093532_panda_arm2.yaml
 delete mode 100644 results/dummy/21093532/launch/panda_arm1_21093532.launch
 delete mode 100644 results/dummy/21093532/launch/panda_arm2_21093532.launch
 rename results/dummy/{-455104659/-455104659.yaml => 38428695/38428695.yaml} (100%)
 rename results/dummy/{621087765/configs/621087765_panda_arm1.yaml => 38428695/configs/38428695_panda_arm1.yaml} (100%)
 rename results/dummy/{621087765/configs/621087765_panda_arm2.yaml => 38428695/configs/38428695_panda_arm2.yaml} (100%)
 rename results/dummy/{621087765/launch/panda_arm1_621087765.launch => 38428695/launch/panda_arm1_38428695.launch} (96%)
 rename results/dummy/{621087765/launch/panda_arm2_621087765.launch => 38428695/launch/panda_arm2_38428695.launch} (96%)
 delete mode 100644 results/dummy/451266307/configs/451266307_panda_arm1.yaml
 delete mode 100644 results/dummy/451266307/configs/451266307_panda_arm2.yaml
 delete mode 100644 results/dummy/451266307/launch/panda_arm1_451266307.launch
 delete mode 100644 results/dummy/451266307/launch/panda_arm2_451266307.launch
 delete mode 100644 results/dummy/77303307/77303307.yaml
 delete mode 100644 results/dummy/77303307/configs/77303307_panda_arm1.yaml
 delete mode 100644 results/dummy/77303307/configs/77303307_panda_arm2.yaml
 delete mode 100644 results/dummy/77303307/launch/panda_arm1_77303307.launch
 delete mode 100644 results/dummy/77303307/launch/panda_arm2_77303307.launch
 delete mode 100644 results/dummy/794022642/794022642.yaml
 delete mode 100644 results/dummy/794022642/configs/794022642_panda_arm1.yaml
 delete mode 100644 results/dummy/794022642/configs/794022642_panda_arm2.yaml
 delete mode 100644 results/dummy/794022642/launch/panda_arm1_794022642.launch
 delete mode 100644 results/dummy/794022642/launch/panda_arm2_794022642.launch
 rename results/dummy/{-1427321257/-1427321257.yaml => 883585462/883585462.yaml} (100%)
 rename results/dummy/{-430424823/configs/-430424823_panda_arm1.yaml => 883585462/configs/883585462_panda_arm1.yaml} (100%)
 rename results/dummy/{-430424823/configs/-430424823_panda_arm2.yaml => 883585462/configs/883585462_panda_arm2.yaml} (100%)
 rename results/dummy/{-1427321257/launch/panda_arm1_-1427321257.launch => 883585462/launch/panda_arm1_883585462.launch} (96%)
 rename results/dummy/{-1427321257/launch/panda_arm2_-1427321257.launch => 883585462/launch/panda_arm2_883585462.launch} (96%)
 create mode 100644 test/mediator/test_base.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index bc9d0c9..5e10b9e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -248,5 +248,10 @@ src/bt/execution.cpp
 src/bt/position_condition.cpp
 src/bt/parallel_robot.cpp
 )
+
+catkin_add_gtest(base-test launch/integration.test test/mediator/test_base.cpp 
+src/reader/abstract_param_reader.cpp
+)
 target_link_libraries(reader-test ${catkin_LIBRARIES} yaml-cpp)
-target_link_libraries(bt-test ${catkin_LIBRARIES} ${BEHAVIOR_TREE_LIBRARY} yaml-cpp)
\ No newline at end of file
+target_link_libraries(bt-test ${catkin_LIBRARIES} ${BEHAVIOR_TREE_LIBRARY} yaml-cpp)
+target_link_libraries(base-test ${catkin_LIBRARIES} ${BEHAVIOR_TREE_LIBRARY} yaml-cpp)
\ No newline at end of file
diff --git a/launch/integration.test b/launch/integration.test
index 24d10f0..2b6719c 100644
--- a/launch/integration.test
+++ b/launch/integration.test
@@ -10,5 +10,7 @@
 
     <test test-name="Reader-Tests" pkg="multi_cell_builder" type="reader-test" name="Readers"/>
     <test test-name="Bt-Tests" pkg="multi_cell_builder" type="bt-test" name="BehaviotTree"/>
+    <test test-name="Base-Tests" pkg="multi_cell_builder" type="base-test" name="BaseMediator"/>
+
 
 </launch>
\ No newline at end of file
diff --git a/results/dummy/-1317123923/-1317123923.yaml b/results/dummy/-1317123923/-1317123923.yaml
deleted file mode 100644
index a5867a7..0000000
--- a/results/dummy/-1317123923/-1317123923.yaml
+++ /dev/null
@@ -1,32 +0,0 @@
-{ 'objects' : [ 
-{ 'id' : 'table1_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table1_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_table_top', 'pos': { 'x': -0.100002 , 'y': -0.000002 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 1.000000 , 'w': -0.000001 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': -3.141591 } },
-{ 'id' : 'table2_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table2_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_table_top', 'pos': { 'x': -0.100004 , 'y': 1.304998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000001 } },
-{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.100001 , 'y': -0.652502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 1.000000 , 'w': -0.000001 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.100003 , 'y': 0.652498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 1.000000 , 'w': -0.000001 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.100005 , 'y': 1.957498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'blue1',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue2',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue3',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.1, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green1',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green2',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red1',  'type': 'BOX', 'pos': { 'x': -0.3, 'y': -0.6, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red2',  'type': 'BOX', 'pos': { 'x': 0.3, 'y': 1.41, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'arm1','type': 'ARM','pos': { 'x': 0.119998, 'y': -0.000002, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 1.000000, 'w': -0.000001 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.320004, 'y': 1.304998, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-]}
\ No newline at end of file
diff --git a/results/dummy/-1317123923/configs/-1317123923_panda_arm1.yaml b/results/dummy/-1317123923/configs/-1317123923_panda_arm1.yaml
deleted file mode 100644
index 3be7bc7..0000000
--- a/results/dummy/-1317123923/configs/-1317123923_panda_arm1.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.100002, -2.04146e-06, 0.91], 'rot': [0, -0, -3.14159], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-0.100002, -2.04146e-06, 0.99], 'rot': [0, -0, -3.14159]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/-1317123923/configs/-1317123923_panda_arm2.yaml b/results/dummy/-1317123923/configs/-1317123923_panda_arm2.yaml
deleted file mode 100644
index b351ce4..0000000
--- a/results/dummy/-1317123923/configs/-1317123923_panda_arm2.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.100004, 1.305, 0.91], 'rot': [0, -0, 1.33714e-06], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-0.100004, 1.305, 0.99], 'rot': [0, -0, 1.33714e-06]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/-1317123923/launch/panda_arm1_-1317123923.launch b/results/dummy/-1317123923/launch/panda_arm1_-1317123923.launch
deleted file mode 100644
index bfddbe8..0000000
--- a/results/dummy/-1317123923/launch/panda_arm1_-1317123923.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm1" />
-<arg name="referenceXYZ" default="0.119998 -1.76652e-06 0.8875"/>
-<arg name="referenceRPY" default="0 -0 -3.14159"/>
-<arg name="result" default="dummy/-1317123923/-1317123923.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1317123923/configs/-1317123923_panda_arm1.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/-1317123923/launch/panda_arm2_-1317123923.launch b/results/dummy/-1317123923/launch/panda_arm2_-1317123923.launch
deleted file mode 100644
index 2d550ea..0000000
--- a/results/dummy/-1317123923/launch/panda_arm2_-1317123923.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm2" />
-<arg name="referenceXYZ" default="-0.320004 1.305 0.8875"/>
-<arg name="referenceRPY" default="0 -0 1.33714e-06"/>
-<arg name="result" default="dummy/-1317123923/-1317123923.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1317123923/configs/-1317123923_panda_arm2.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/-1429757615/-1429757615.yaml b/results/dummy/-1429757615/-1429757615.yaml
deleted file mode 100644
index 74a4370..0000000
--- a/results/dummy/-1429757615/-1429757615.yaml
+++ /dev/null
@@ -1,33 +0,0 @@
-{ 'objects' : [ 
-{ 'id' : 'table1_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table1_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_table_top', 'pos': { 'x': -0.100002 , 'y': -0.000002 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 1.000000 , 'w': -0.000001 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': -3.141591 } },
-{ 'id' : 'table2_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table2_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_table_top', 'pos': { 'x': -0.100004 , 'y': 1.304998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000001 } },
-{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.100001 , 'y': -0.652502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 1.000000 , 'w': -0.000001 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table1_front_panel' , 'pos': { 'x': -0.752502 , 'y': -0.000003 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 1.000000 , 'w': -0.000001 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.100003 , 'y': 0.652498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 1.000000 , 'w': -0.000001 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.100005 , 'y': 1.957498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'blue1',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue2',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue3',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.1, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green1',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green2',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red1',  'type': 'BOX', 'pos': { 'x': -0.3, 'y': -0.6, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red2',  'type': 'BOX', 'pos': { 'x': 0.3, 'y': 1.41, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'arm1','type': 'ARM','pos': { 'x': 0.119998, 'y': -0.000002, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 1.000000, 'w': -0.000001 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.320004, 'y': 1.304998, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-]}
\ No newline at end of file
diff --git a/results/dummy/-1429757615/configs/-1429757615_panda_arm1.yaml b/results/dummy/-1429757615/configs/-1429757615_panda_arm1.yaml
deleted file mode 100644
index 3be7bc7..0000000
--- a/results/dummy/-1429757615/configs/-1429757615_panda_arm1.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.100002, -2.04146e-06, 0.91], 'rot': [0, -0, -3.14159], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-0.100002, -2.04146e-06, 0.99], 'rot': [0, -0, -3.14159]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/-1429757615/configs/-1429757615_panda_arm2.yaml b/results/dummy/-1429757615/configs/-1429757615_panda_arm2.yaml
deleted file mode 100644
index b351ce4..0000000
--- a/results/dummy/-1429757615/configs/-1429757615_panda_arm2.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.100004, 1.305, 0.91], 'rot': [0, -0, 1.33714e-06], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-0.100004, 1.305, 0.99], 'rot': [0, -0, 1.33714e-06]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/-1429757615/launch/panda_arm1_-1429757615.launch b/results/dummy/-1429757615/launch/panda_arm1_-1429757615.launch
deleted file mode 100644
index 7c47499..0000000
--- a/results/dummy/-1429757615/launch/panda_arm1_-1429757615.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm1" />
-<arg name="referenceXYZ" default="0.119998 -1.76652e-06 0.8875"/>
-<arg name="referenceRPY" default="0 -0 -3.14159"/>
-<arg name="result" default="dummy/-1429757615/-1429757615.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1429757615/configs/-1429757615_panda_arm1.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/-1429757615/launch/panda_arm2_-1429757615.launch b/results/dummy/-1429757615/launch/panda_arm2_-1429757615.launch
deleted file mode 100644
index b267cd3..0000000
--- a/results/dummy/-1429757615/launch/panda_arm2_-1429757615.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm2" />
-<arg name="referenceXYZ" default="-0.320004 1.305 0.8875"/>
-<arg name="referenceRPY" default="0 -0 1.33714e-06"/>
-<arg name="result" default="dummy/-1429757615/-1429757615.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1429757615/configs/-1429757615_panda_arm2.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/621087765/621087765.yaml b/results/dummy/-1451657555/-1451657555.yaml
similarity index 100%
rename from results/dummy/621087765/621087765.yaml
rename to results/dummy/-1451657555/-1451657555.yaml
diff --git a/results/dummy/-455104659/configs/-455104659_panda_arm1.yaml b/results/dummy/-1451657555/configs/-1451657555_panda_arm1.yaml
similarity index 100%
rename from results/dummy/-455104659/configs/-455104659_panda_arm1.yaml
rename to results/dummy/-1451657555/configs/-1451657555_panda_arm1.yaml
diff --git a/results/dummy/-455104659/configs/-455104659_panda_arm2.yaml b/results/dummy/-1451657555/configs/-1451657555_panda_arm2.yaml
similarity index 100%
rename from results/dummy/-455104659/configs/-455104659_panda_arm2.yaml
rename to results/dummy/-1451657555/configs/-1451657555_panda_arm2.yaml
diff --git a/results/dummy/-455104659/launch/panda_arm1_-455104659.launch b/results/dummy/-1451657555/launch/panda_arm1_-1451657555.launch
similarity index 96%
rename from results/dummy/-455104659/launch/panda_arm1_-455104659.launch
rename to results/dummy/-1451657555/launch/panda_arm1_-1451657555.launch
index 9d4632e..dcd4e5c 100644
--- a/results/dummy/-455104659/launch/panda_arm1_-455104659.launch
+++ b/results/dummy/-1451657555/launch/panda_arm1_-1451657555.launch
@@ -2,7 +2,7 @@
 <arg name="referenceRobot" default="panda_arm1" />
 <arg name="referenceXYZ" default="-0.220002 -0.100003 0.8875"/>
 <arg name="referenceRPY" default="0 -0 2.49943e-06"/>
-<arg name="result" default="dummy/-455104659/-455104659.yaml" />
+<arg name="result" default="dummy/-1451657555/-1451657555.yaml" />
 <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
 <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
 <rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
@@ -48,7 +48,7 @@
 <param name="planning_group_name" value="panda_arm_hand" />
 <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
 <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-455104659/configs/-455104659_panda_arm1.yaml"/>
+<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1451657555/configs/-1451657555_panda_arm1.yaml"/>
 </node>
 <arg name="planner" default="ompl" />
 <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
diff --git a/results/dummy/-455104659/launch/panda_arm2_-455104659.launch b/results/dummy/-1451657555/launch/panda_arm2_-1451657555.launch
similarity index 96%
rename from results/dummy/-455104659/launch/panda_arm2_-455104659.launch
rename to results/dummy/-1451657555/launch/panda_arm2_-1451657555.launch
index e1f1905..25a7806 100644
--- a/results/dummy/-455104659/launch/panda_arm2_-455104659.launch
+++ b/results/dummy/-1451657555/launch/panda_arm2_-1451657555.launch
@@ -2,7 +2,7 @@
 <arg name="referenceRobot" default="panda_arm2" />
 <arg name="referenceXYZ" default="-0.220005 1.205 0.8875"/>
 <arg name="referenceRPY" default="0 -0 2.67427e-06"/>
-<arg name="result" default="dummy/-455104659/-455104659.yaml" />
+<arg name="result" default="dummy/-1451657555/-1451657555.yaml" />
 <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
 <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
 <rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
@@ -48,7 +48,7 @@
 <param name="planning_group_name" value="panda_arm_hand" />
 <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
 <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-455104659/configs/-455104659_panda_arm2.yaml"/>
+<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1451657555/configs/-1451657555_panda_arm2.yaml"/>
 </node>
 <arg name="planner" default="ompl" />
 <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
diff --git a/results/dummy/-1797583301/-1797583301.yaml b/results/dummy/-1797583301/-1797583301.yaml
deleted file mode 100644
index a761f8b..0000000
--- a/results/dummy/-1797583301/-1797583301.yaml
+++ /dev/null
@@ -1,32 +0,0 @@
-{ 'objects' : [ 
-{ 'id' : 'table1_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table1_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_table_top', 'pos': { 'x': -0.000002 , 'y': 0.099998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000002 } },
-{ 'id' : 'table2_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table2_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_table_top', 'pos': { 'x': -0.000005 , 'y': 1.404998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000003 } },
-{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.000004 , 'y': 0.752498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000000 , 'y': -0.552502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000007 , 'y': 2.057498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'blue1',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue2',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue3',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.1, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green1',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green2',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red1',  'type': 'BOX', 'pos': { 'x': -0.3, 'y': -0.6, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red2',  'type': 'BOX', 'pos': { 'x': 0.3, 'y': 1.41, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': 0.099997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220005, 'y': 1.404997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-]}
\ No newline at end of file
diff --git a/results/dummy/-1797583301/configs/-1797583301_panda_arm1.yaml b/results/dummy/-1797583301/configs/-1797583301_panda_arm1.yaml
deleted file mode 100644
index df52dd3..0000000
--- a/results/dummy/-1797583301/configs/-1797583301_panda_arm1.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-2.04146e-06, 0.099998, 0.91], 'rot': [0, -0, 2.49943e-06], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-2.04146e-06, 0.099998, 0.99], 'rot': [0, -0, 2.49943e-06]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/-1797583301/configs/-1797583301_panda_arm2.yaml b/results/dummy/-1797583301/configs/-1797583301_panda_arm2.yaml
deleted file mode 100644
index 72a394f..0000000
--- a/results/dummy/-1797583301/configs/-1797583301_panda_arm2.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-5.30321e-06, 1.405, 0.91], 'rot': [0, -0, 2.67427e-06], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-5.30321e-06, 1.405, 0.99], 'rot': [0, -0, 2.67427e-06]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/-1797583301/launch/panda_arm1_-1797583301.launch b/results/dummy/-1797583301/launch/panda_arm1_-1797583301.launch
deleted file mode 100644
index c27c526..0000000
--- a/results/dummy/-1797583301/launch/panda_arm1_-1797583301.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm1" />
-<arg name="referenceXYZ" default="-0.220002 0.0999974 0.8875"/>
-<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
-<arg name="result" default="dummy/-1797583301/-1797583301.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1797583301/configs/-1797583301_panda_arm1.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/-1797583301/launch/panda_arm2_-1797583301.launch b/results/dummy/-1797583301/launch/panda_arm2_-1797583301.launch
deleted file mode 100644
index fa6495f..0000000
--- a/results/dummy/-1797583301/launch/panda_arm2_-1797583301.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm2" />
-<arg name="referenceXYZ" default="-0.220005 1.405 0.8875"/>
-<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
-<arg name="result" default="dummy/-1797583301/-1797583301.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1797583301/configs/-1797583301_panda_arm2.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/-1805062065/-1805062065.yaml b/results/dummy/-1805062065/-1805062065.yaml
deleted file mode 100644
index c885264..0000000
--- a/results/dummy/-1805062065/-1805062065.yaml
+++ /dev/null
@@ -1,32 +0,0 @@
-{ 'objects' : [ 
-{ 'id' : 'table1_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table1_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_table_top', 'pos': { 'x': -0.100002 , 'y': 0.099998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000002 } },
-{ 'id' : 'table2_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table2_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_table_top', 'pos': { 'x': -0.100005 , 'y': 1.404998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000003 } },
-{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.100004 , 'y': 0.752498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.100000 , 'y': -0.552502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.100007 , 'y': 2.057498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'blue1',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue2',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue3',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.1, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green1',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green2',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red1',  'type': 'BOX', 'pos': { 'x': -0.3, 'y': -0.6, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red2',  'type': 'BOX', 'pos': { 'x': 0.3, 'y': 1.41, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.320002, 'y': 0.099997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.320005, 'y': 1.404997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-]}
\ No newline at end of file
diff --git a/results/dummy/-1805062065/configs/-1805062065_panda_arm1.yaml b/results/dummy/-1805062065/configs/-1805062065_panda_arm1.yaml
deleted file mode 100644
index 3fe15e1..0000000
--- a/results/dummy/-1805062065/configs/-1805062065_panda_arm1.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.100002, 0.099998, 0.91], 'rot': [0, -0, 2.49943e-06], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-0.100002, 0.099998, 0.99], 'rot': [0, -0, 2.49943e-06]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/-1805062065/configs/-1805062065_panda_arm2.yaml b/results/dummy/-1805062065/configs/-1805062065_panda_arm2.yaml
deleted file mode 100644
index f727ffe..0000000
--- a/results/dummy/-1805062065/configs/-1805062065_panda_arm2.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.100005, 1.405, 0.91], 'rot': [0, -0, 2.67427e-06], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-0.100005, 1.405, 0.99], 'rot': [0, -0, 2.67427e-06]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/-1805062065/launch/panda_arm1_-1805062065.launch b/results/dummy/-1805062065/launch/panda_arm1_-1805062065.launch
deleted file mode 100644
index e22f2a3..0000000
--- a/results/dummy/-1805062065/launch/panda_arm1_-1805062065.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm1" />
-<arg name="referenceXYZ" default="-0.320002 0.0999974 0.8875"/>
-<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
-<arg name="result" default="dummy/-1805062065/-1805062065.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1805062065/configs/-1805062065_panda_arm1.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/-1805062065/launch/panda_arm2_-1805062065.launch b/results/dummy/-1805062065/launch/panda_arm2_-1805062065.launch
deleted file mode 100644
index d636022..0000000
--- a/results/dummy/-1805062065/launch/panda_arm2_-1805062065.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm2" />
-<arg name="referenceXYZ" default="-0.320005 1.405 0.8875"/>
-<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
-<arg name="result" default="dummy/-1805062065/-1805062065.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1805062065/configs/-1805062065_panda_arm2.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/-1808776340/-1808776340.yaml b/results/dummy/-1808776340/-1808776340.yaml
deleted file mode 100644
index 6852f4e..0000000
--- a/results/dummy/-1808776340/-1808776340.yaml
+++ /dev/null
@@ -1,33 +0,0 @@
-{ 'objects' : [ 
-{ 'id' : 'table1_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table1_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_table_top', 'pos': { 'x': -0.100002 , 'y': 0.099998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000002 } },
-{ 'id' : 'table2_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table2_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_table_top', 'pos': { 'x': -0.100005 , 'y': 1.404998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000003 } },
-{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.100004 , 'y': 0.752498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table1_front_panel' , 'pos': { 'x': 0.552498 , 'y': 0.100000 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.100000 , 'y': -0.552502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.100007 , 'y': 2.057498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'blue1',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue2',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue3',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.1, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green1',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green2',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red1',  'type': 'BOX', 'pos': { 'x': -0.3, 'y': -0.6, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red2',  'type': 'BOX', 'pos': { 'x': 0.3, 'y': 1.41, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.320002, 'y': 0.099997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.320005, 'y': 1.404997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-]}
\ No newline at end of file
diff --git a/results/dummy/-1808776340/configs/-1808776340_panda_arm1.yaml b/results/dummy/-1808776340/configs/-1808776340_panda_arm1.yaml
deleted file mode 100644
index 3fe15e1..0000000
--- a/results/dummy/-1808776340/configs/-1808776340_panda_arm1.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.100002, 0.099998, 0.91], 'rot': [0, -0, 2.49943e-06], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-0.100002, 0.099998, 0.99], 'rot': [0, -0, 2.49943e-06]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/-1808776340/configs/-1808776340_panda_arm2.yaml b/results/dummy/-1808776340/configs/-1808776340_panda_arm2.yaml
deleted file mode 100644
index f727ffe..0000000
--- a/results/dummy/-1808776340/configs/-1808776340_panda_arm2.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.100005, 1.405, 0.91], 'rot': [0, -0, 2.67427e-06], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-0.100005, 1.405, 0.99], 'rot': [0, -0, 2.67427e-06]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/-1808776340/launch/panda_arm1_-1808776340.launch b/results/dummy/-1808776340/launch/panda_arm1_-1808776340.launch
deleted file mode 100644
index 300a67e..0000000
--- a/results/dummy/-1808776340/launch/panda_arm1_-1808776340.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm1" />
-<arg name="referenceXYZ" default="-0.320002 0.0999974 0.8875"/>
-<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
-<arg name="result" default="dummy/-1808776340/-1808776340.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1808776340/configs/-1808776340_panda_arm1.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/-1808776340/launch/panda_arm2_-1808776340.launch b/results/dummy/-1808776340/launch/panda_arm2_-1808776340.launch
deleted file mode 100644
index 6479436..0000000
--- a/results/dummy/-1808776340/launch/panda_arm2_-1808776340.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm2" />
-<arg name="referenceXYZ" default="-0.320005 1.405 0.8875"/>
-<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
-<arg name="result" default="dummy/-1808776340/-1808776340.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1808776340/configs/-1808776340_panda_arm2.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/-2018095925/-2018095925.yaml b/results/dummy/-2018095925/-2018095925.yaml
deleted file mode 100644
index 6060605..0000000
--- a/results/dummy/-2018095925/-2018095925.yaml
+++ /dev/null
@@ -1,33 +0,0 @@
-{ 'objects' : [ 
-{ 'id' : 'table1_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table1_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_table_top', 'pos': { 'x': -0.100002 , 'y': -0.000002 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000002 } },
-{ 'id' : 'table2_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table2_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_table_top', 'pos': { 'x': -0.100005 , 'y': 1.304998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000003 } },
-{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.100004 , 'y': 0.652498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table1_front_panel' , 'pos': { 'x': 0.552498 , 'y': -0.000000 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.100000 , 'y': -0.652502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.100007 , 'y': 1.957498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'blue1',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue2',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue3',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.1, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green1',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green2',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red1',  'type': 'BOX', 'pos': { 'x': -0.3, 'y': -0.6, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red2',  'type': 'BOX', 'pos': { 'x': 0.3, 'y': 1.41, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.320002, 'y': -0.000003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.320005, 'y': 1.304997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-]}
\ No newline at end of file
diff --git a/results/dummy/-2018095925/configs/-2018095925_panda_arm1.yaml b/results/dummy/-2018095925/configs/-2018095925_panda_arm1.yaml
deleted file mode 100644
index 4040d4a..0000000
--- a/results/dummy/-2018095925/configs/-2018095925_panda_arm1.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.100002, -2.04146e-06, 0.91], 'rot': [0, -0, 2.49943e-06], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-0.100002, -2.04146e-06, 0.99], 'rot': [0, -0, 2.49943e-06]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/-2018095925/configs/-2018095925_panda_arm2.yaml b/results/dummy/-2018095925/configs/-2018095925_panda_arm2.yaml
deleted file mode 100644
index 54ae0dc..0000000
--- a/results/dummy/-2018095925/configs/-2018095925_panda_arm2.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.100005, 1.305, 0.91], 'rot': [0, -0, 2.67427e-06], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-0.100005, 1.305, 0.99], 'rot': [0, -0, 2.67427e-06]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/-2018095925/launch/panda_arm1_-2018095925.launch b/results/dummy/-2018095925/launch/panda_arm1_-2018095925.launch
deleted file mode 100644
index fce1305..0000000
--- a/results/dummy/-2018095925/launch/panda_arm1_-2018095925.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm1" />
-<arg name="referenceXYZ" default="-0.320002 -2.59133e-06 0.8875"/>
-<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
-<arg name="result" default="dummy/-2018095925/-2018095925.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-2018095925/configs/-2018095925_panda_arm1.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/-2018095925/launch/panda_arm2_-2018095925.launch b/results/dummy/-2018095925/launch/panda_arm2_-2018095925.launch
deleted file mode 100644
index e128b20..0000000
--- a/results/dummy/-2018095925/launch/panda_arm2_-2018095925.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm2" />
-<arg name="referenceXYZ" default="-0.320005 1.305 0.8875"/>
-<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
-<arg name="result" default="dummy/-2018095925/-2018095925.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-2018095925/configs/-2018095925_panda_arm2.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/-430424823/-430424823.yaml b/results/dummy/-430424823/-430424823.yaml
deleted file mode 100644
index d025382..0000000
--- a/results/dummy/-430424823/-430424823.yaml
+++ /dev/null
@@ -1,77 +0,0 @@
-{ 'objects' : [ 
-{ 'id' : 'table1_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table1_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_table_top', 'pos': { 'x': -0.000002 , 'y': -0.000002 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000002 } },
-{ 'id' : 'table2_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table2_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_table_top', 'pos': { 'x': -0.000005 , 'y': 1.304998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000003 } },
-{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.000004 , 'y': 0.652498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000000 , 'y': -0.652502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000007 , 'y': 1.957498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'position: 
-  x: -0.050002
-  y: 0.129998
-  z: 0.9355
-orientation: 
-  x: 0
-  y: 0
-  z: 0
-  w: 1
-',  'type': 'BOX', 'pos': { 'x': -0.050002, 'y': 0.129998, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091},'orientation': { 'x': 0, 'y': 0, 'z': 0, 'w': 1},'color': { 'b': 1 } }, #modified
-{ 'id': 'position: 
-  x: 0.069998
-  y: 0.069998
-  z: 0.9355
-orientation: 
-  x: 0
-  y: 0
-  z: 0
-  w: 1
-',  'type': 'BOX', 'pos': { 'x': 0.069998, 'y': 0.069998, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091},'orientation': { 'x': 0, 'y': 0, 'z': 0, 'w': 1},'color': { 'b': 1 } }, #modified
-{ 'id': 'position: 
-  x: 0.159998
-  y: 0.099998
-  z: 0.9355
-orientation: 
-  x: 0
-  y: 0
-  z: 0
-  w: 1
-',  'type': 'BOX', 'pos': { 'x': 0.159998, 'y': 0.099998, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091},'orientation': { 'x': 0, 'y': 0, 'z': 0, 'w': 1},'color': { 'b': 1 } }, #modified
-{ 'id': 'position: 
-  x: -0.140002
-  y: -0.200002
-  z: 0.9355
-orientation: 
-  x: 0
-  y: 0
-  z: 0.382683
-  w: 0.92388
-',  'type': 'BOX', 'pos': { 'x': -0.140002, 'y': -0.200002, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091},'orientation': { 'x': 0, 'y': 0, 'z': 0.382683, 'w': 0.92388},'color': { 'b': 1 } }, #modified
-{ 'id': 'green2',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'position: 
-  x: 0.039998
-  y: -0.200002
-  z: 0.9355
-orientation: 
-  x: 0
-  y: 0
-  z: 0
-  w: 1
-',  'type': 'BOX', 'pos': { 'x': 0.039998, 'y': -0.200002, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091},'orientation': { 'x': 0, 'y': 0, 'z': 0, 'w': 1},'color': { 'b': 1 } }, #modified
-{ 'id': 'red2',  'type': 'BOX', 'pos': { 'x': 0.3, 'y': 1.41, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': -0.000003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220005, 'y': 1.304997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-]}
diff --git a/results/dummy/1449337039/1449337039.yaml b/results/dummy/1449337039/1449337039.yaml
deleted file mode 100644
index 9d6c3ab..0000000
--- a/results/dummy/1449337039/1449337039.yaml
+++ /dev/null
@@ -1,33 +0,0 @@
-{ 'objects' : [ 
-{ 'id' : 'table1_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table1_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_table_top', 'pos': { 'x': -0.000002 , 'y': 0.099998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000002 } },
-{ 'id' : 'table2_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table2_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_table_top', 'pos': { 'x': -0.000005 , 'y': 1.404998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000003 } },
-{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.000004 , 'y': 0.752498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table1_front_panel' , 'pos': { 'x': 0.652498 , 'y': 0.100000 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000000 , 'y': -0.552502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000007 , 'y': 2.057498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'blue1',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue2',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue3',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.1, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green1',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green2',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red1',  'type': 'BOX', 'pos': { 'x': -0.3, 'y': -0.6, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red2',  'type': 'BOX', 'pos': { 'x': 0.3, 'y': 1.41, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': 0.099997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220005, 'y': 1.404997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-]}
\ No newline at end of file
diff --git a/results/dummy/1449337039/configs/1449337039_panda_arm1.yaml b/results/dummy/1449337039/configs/1449337039_panda_arm1.yaml
deleted file mode 100644
index df52dd3..0000000
--- a/results/dummy/1449337039/configs/1449337039_panda_arm1.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-2.04146e-06, 0.099998, 0.91], 'rot': [0, -0, 2.49943e-06], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-2.04146e-06, 0.099998, 0.99], 'rot': [0, -0, 2.49943e-06]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/1449337039/configs/1449337039_panda_arm2.yaml b/results/dummy/1449337039/configs/1449337039_panda_arm2.yaml
deleted file mode 100644
index 72a394f..0000000
--- a/results/dummy/1449337039/configs/1449337039_panda_arm2.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-5.30321e-06, 1.405, 0.91], 'rot': [0, -0, 2.67427e-06], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-5.30321e-06, 1.405, 0.99], 'rot': [0, -0, 2.67427e-06]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/1449337039/launch/panda_arm1_1449337039.launch b/results/dummy/1449337039/launch/panda_arm1_1449337039.launch
deleted file mode 100644
index d3a8c9b..0000000
--- a/results/dummy/1449337039/launch/panda_arm1_1449337039.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm1" />
-<arg name="referenceXYZ" default="-0.220002 0.0999974 0.8875"/>
-<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
-<arg name="result" default="dummy/1449337039/1449337039.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1449337039/configs/1449337039_panda_arm1.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/1449337039/launch/panda_arm2_1449337039.launch b/results/dummy/1449337039/launch/panda_arm2_1449337039.launch
deleted file mode 100644
index 940ab82..0000000
--- a/results/dummy/1449337039/launch/panda_arm2_1449337039.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm2" />
-<arg name="referenceXYZ" default="-0.220005 1.405 0.8875"/>
-<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
-<arg name="result" default="dummy/1449337039/1449337039.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1449337039/configs/1449337039_panda_arm2.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/1878181496/1878181496.yaml b/results/dummy/1878181496/1878181496.yaml
deleted file mode 100644
index b10cf44..0000000
--- a/results/dummy/1878181496/1878181496.yaml
+++ /dev/null
@@ -1,32 +0,0 @@
-{ 'objects' : [ 
-{ 'id' : 'table1_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table1_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_table_top', 'pos': { 'x': -0.000002 , 'y': -0.000002 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 1.000000 , 'w': -0.000001 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': -3.141591 } },
-{ 'id' : 'table2_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table2_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_table_top', 'pos': { 'x': -0.000004 , 'y': 1.304998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000001 } },
-{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.000001 , 'y': -0.652502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 1.000000 , 'w': -0.000001 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000003 , 'y': 0.652498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 1.000000 , 'w': -0.000001 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000005 , 'y': 1.957498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'blue1',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue2',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue3',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.1, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green1',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green2',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red1',  'type': 'BOX', 'pos': { 'x': -0.3, 'y': -0.6, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red2',  'type': 'BOX', 'pos': { 'x': 0.3, 'y': 1.41, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'arm1','type': 'ARM','pos': { 'x': 0.219998, 'y': -0.000002, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 1.000000, 'w': -0.000001 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220004, 'y': 1.304998, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-]}
\ No newline at end of file
diff --git a/results/dummy/1878181496/configs/1878181496_panda_arm1.yaml b/results/dummy/1878181496/configs/1878181496_panda_arm1.yaml
deleted file mode 100644
index bbf69db..0000000
--- a/results/dummy/1878181496/configs/1878181496_panda_arm1.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-2.04146e-06, -2.04146e-06, 0.91], 'rot': [0, -0, -3.14159], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-2.04146e-06, -2.04146e-06, 0.99], 'rot': [0, -0, -3.14159]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/1878181496/configs/1878181496_panda_arm2.yaml b/results/dummy/1878181496/configs/1878181496_panda_arm2.yaml
deleted file mode 100644
index 9d1f0b5..0000000
--- a/results/dummy/1878181496/configs/1878181496_panda_arm2.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-3.67233e-06, 1.305, 0.91], 'rot': [0, -0, 1.33714e-06], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-3.67233e-06, 1.305, 0.99], 'rot': [0, -0, 1.33714e-06]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/1878181496/launch/panda_arm1_1878181496.launch b/results/dummy/1878181496/launch/panda_arm1_1878181496.launch
deleted file mode 100644
index 9753786..0000000
--- a/results/dummy/1878181496/launch/panda_arm1_1878181496.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm1" />
-<arg name="referenceXYZ" default="0.219998 -1.76652e-06 0.8875"/>
-<arg name="referenceRPY" default="0 -0 -3.14159"/>
-<arg name="result" default="dummy/1878181496/1878181496.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1878181496/configs/1878181496_panda_arm1.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/1878181496/launch/panda_arm2_1878181496.launch b/results/dummy/1878181496/launch/panda_arm2_1878181496.launch
deleted file mode 100644
index b105533..0000000
--- a/results/dummy/1878181496/launch/panda_arm2_1878181496.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm2" />
-<arg name="referenceXYZ" default="-0.220004 1.305 0.8875"/>
-<arg name="referenceRPY" default="0 -0 1.33714e-06"/>
-<arg name="result" default="dummy/1878181496/1878181496.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1878181496/configs/1878181496_panda_arm2.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/2009508287/2009508287.yaml b/results/dummy/2009508287/2009508287.yaml
deleted file mode 100644
index c349c52..0000000
--- a/results/dummy/2009508287/2009508287.yaml
+++ /dev/null
@@ -1,32 +0,0 @@
-{ 'objects' : [ 
-{ 'id' : 'table1_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table1_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_table_top', 'pos': { 'x': -0.000002 , 'y': -0.200002 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000002 } },
-{ 'id' : 'table2_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table2_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_table_top', 'pos': { 'x': -0.000006 , 'y': 1.402498 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000003 } },
-{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.000004 , 'y': 0.452498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000000 , 'y': -0.852502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000008 , 'y': 2.054998 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'blue1',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue2',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue3',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.1, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green1',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green2',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red1',  'type': 'BOX', 'pos': { 'x': -0.3, 'y': -0.6, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red2',  'type': 'BOX', 'pos': { 'x': 0.3, 'y': 1.41, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': -0.200003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220006, 'y': 1.402497, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-]}
\ No newline at end of file
diff --git a/results/dummy/2009508287/configs/2009508287_panda_arm1.yaml b/results/dummy/2009508287/configs/2009508287_panda_arm1.yaml
deleted file mode 100644
index f294e99..0000000
--- a/results/dummy/2009508287/configs/2009508287_panda_arm1.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-2.04146e-06, -0.200002, 0.91], 'rot': [0, -0, 2.49943e-06], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-2.04146e-06, -0.200002, 0.99], 'rot': [0, -0, 2.49943e-06]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/2009508287/configs/2009508287_panda_arm2.yaml b/results/dummy/2009508287/configs/2009508287_panda_arm2.yaml
deleted file mode 100644
index 9bc7e19..0000000
--- a/results/dummy/2009508287/configs/2009508287_panda_arm2.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-6.04679e-06, 1.4025, 0.91], 'rot': [0, -0, 2.67427e-06], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-6.04679e-06, 1.4025, 0.99], 'rot': [0, -0, 2.67427e-06]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/2009508287/launch/panda_arm1_2009508287.launch b/results/dummy/2009508287/launch/panda_arm1_2009508287.launch
deleted file mode 100644
index bf47625..0000000
--- a/results/dummy/2009508287/launch/panda_arm1_2009508287.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm1" />
-<arg name="referenceXYZ" default="-0.220002 -0.200003 0.8875"/>
-<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
-<arg name="result" default="dummy/2009508287/2009508287.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/2009508287/configs/2009508287_panda_arm1.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/2009508287/launch/panda_arm2_2009508287.launch b/results/dummy/2009508287/launch/panda_arm2_2009508287.launch
deleted file mode 100644
index 4ca8916..0000000
--- a/results/dummy/2009508287/launch/panda_arm2_2009508287.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm2" />
-<arg name="referenceXYZ" default="-0.220006 1.4025 0.8875"/>
-<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
-<arg name="result" default="dummy/2009508287/2009508287.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/2009508287/configs/2009508287_panda_arm2.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/2033083939/2033083939.yaml b/results/dummy/2033083939/2033083939.yaml
deleted file mode 100644
index 649ef1f..0000000
--- a/results/dummy/2033083939/2033083939.yaml
+++ /dev/null
@@ -1,33 +0,0 @@
-{ 'objects' : [ 
-{ 'id' : 'table1_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table1_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_table_top', 'pos': { 'x': -0.000002 , 'y': -0.200002 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000002 } },
-{ 'id' : 'table2_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table2_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_table_top', 'pos': { 'x': -0.000006 , 'y': 1.402498 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000003 } },
-{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.000004 , 'y': 0.452498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table1_front_panel' , 'pos': { 'x': 0.652498 , 'y': -0.200000 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000000 , 'y': -0.852502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000008 , 'y': 2.054998 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'blue1',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue2',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue3',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.1, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green1',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green2',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red1',  'type': 'BOX', 'pos': { 'x': -0.3, 'y': -0.6, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red2',  'type': 'BOX', 'pos': { 'x': 0.3, 'y': 1.41, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': -0.200003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220006, 'y': 1.402497, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-]}
\ No newline at end of file
diff --git a/results/dummy/2033083939/configs/2033083939_panda_arm1.yaml b/results/dummy/2033083939/configs/2033083939_panda_arm1.yaml
deleted file mode 100644
index f294e99..0000000
--- a/results/dummy/2033083939/configs/2033083939_panda_arm1.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-2.04146e-06, -0.200002, 0.91], 'rot': [0, -0, 2.49943e-06], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-2.04146e-06, -0.200002, 0.99], 'rot': [0, -0, 2.49943e-06]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/2033083939/configs/2033083939_panda_arm2.yaml b/results/dummy/2033083939/configs/2033083939_panda_arm2.yaml
deleted file mode 100644
index 9bc7e19..0000000
--- a/results/dummy/2033083939/configs/2033083939_panda_arm2.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-6.04679e-06, 1.4025, 0.91], 'rot': [0, -0, 2.67427e-06], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-6.04679e-06, 1.4025, 0.99], 'rot': [0, -0, 2.67427e-06]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/2033083939/launch/panda_arm1_2033083939.launch b/results/dummy/2033083939/launch/panda_arm1_2033083939.launch
deleted file mode 100644
index 18f4d16..0000000
--- a/results/dummy/2033083939/launch/panda_arm1_2033083939.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm1" />
-<arg name="referenceXYZ" default="-0.220002 -0.200003 0.8875"/>
-<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
-<arg name="result" default="dummy/2033083939/2033083939.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/2033083939/configs/2033083939_panda_arm1.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/2033083939/launch/panda_arm2_2033083939.launch b/results/dummy/2033083939/launch/panda_arm2_2033083939.launch
deleted file mode 100644
index 6725a5c..0000000
--- a/results/dummy/2033083939/launch/panda_arm2_2033083939.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm2" />
-<arg name="referenceXYZ" default="-0.220006 1.4025 0.8875"/>
-<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
-<arg name="result" default="dummy/2033083939/2033083939.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/2033083939/configs/2033083939_panda_arm2.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/451266307/451266307.yaml b/results/dummy/2059996578/2059996578.yaml
similarity index 93%
rename from results/dummy/451266307/451266307.yaml
rename to results/dummy/2059996578/2059996578.yaml
index 5ae748e..df60e80 100644
--- a/results/dummy/451266307/451266307.yaml
+++ b/results/dummy/2059996578/2059996578.yaml
@@ -7,7 +7,7 @@
 { 'id' : 'table1_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
 { 'id' : 'table1_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
 { 'id' : 'table1_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_table_top', 'pos': { 'x': -0.100002 , 'y': -0.000002 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000002 } },
+{ 'id' : 'table1_table_top', 'pos': { 'x': -0.000002 , 'y': -0.000002 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000002 } },
 { 'id' : 'table2_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
 { 'id' : 'table2_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
 { 'id' : 'table2_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
@@ -16,10 +16,10 @@
 { 'id' : 'table2_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
 { 'id' : 'table2_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
 { 'id' : 'table2_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_table_top', 'pos': { 'x': -0.100005 , 'y': 1.304998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000003 } },
-{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.100004 , 'y': 0.652498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.100000 , 'y': -0.652502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.100007 , 'y': 1.957498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
+{ 'id' : 'table2_table_top', 'pos': { 'x': -0.000005 , 'y': 1.304998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000003 } },
+{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.000004 , 'y': 0.652498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
+{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000000 , 'y': -0.652502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
+{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000007 , 'y': 1.957498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
 { 'id': 'blue1',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
 { 'id': 'blue2',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
 { 'id': 'blue3',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.1, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
@@ -27,6 +27,6 @@
 { 'id': 'green2',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
 { 'id': 'red1',  'type': 'BOX', 'pos': { 'x': -0.3, 'y': -0.6, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
 { 'id': 'red2',  'type': 'BOX', 'pos': { 'x': 0.3, 'y': 1.41, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.320002, 'y': -0.000003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.320005, 'y': 1.304997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
+{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': -0.000003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
+{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220005, 'y': 1.304997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
 ]}
\ No newline at end of file
diff --git a/results/dummy/-1427321257/configs/-1427321257_panda_arm1.yaml b/results/dummy/2059996578/configs/2059996578_panda_arm1.yaml
similarity index 100%
rename from results/dummy/-1427321257/configs/-1427321257_panda_arm1.yaml
rename to results/dummy/2059996578/configs/2059996578_panda_arm1.yaml
diff --git a/results/dummy/-1427321257/configs/-1427321257_panda_arm2.yaml b/results/dummy/2059996578/configs/2059996578_panda_arm2.yaml
similarity index 100%
rename from results/dummy/-1427321257/configs/-1427321257_panda_arm2.yaml
rename to results/dummy/2059996578/configs/2059996578_panda_arm2.yaml
diff --git a/results/dummy/-430424823/launch/panda_arm1_-430424823.launch b/results/dummy/2059996578/launch/panda_arm1_2059996578.launch
similarity index 96%
rename from results/dummy/-430424823/launch/panda_arm1_-430424823.launch
rename to results/dummy/2059996578/launch/panda_arm1_2059996578.launch
index 03af62a..36948db 100644
--- a/results/dummy/-430424823/launch/panda_arm1_-430424823.launch
+++ b/results/dummy/2059996578/launch/panda_arm1_2059996578.launch
@@ -2,7 +2,7 @@
 <arg name="referenceRobot" default="panda_arm1" />
 <arg name="referenceXYZ" default="-0.220002 -2.59133e-06 0.8875"/>
 <arg name="referenceRPY" default="0 -0 2.49943e-06"/>
-<arg name="result" default="dummy/-430424823/-430424823.yaml" />
+<arg name="result" default="dummy/2059996578/2059996578.yaml" />
 <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
 <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
 <rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
@@ -48,7 +48,7 @@
 <param name="planning_group_name" value="panda_arm_hand" />
 <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
 <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-430424823/configs/-430424823_panda_arm1.yaml"/>
+<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/2059996578/configs/2059996578_panda_arm1.yaml"/>
 </node>
 <arg name="planner" default="ompl" />
 <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
diff --git a/results/dummy/-430424823/launch/panda_arm2_-430424823.launch b/results/dummy/2059996578/launch/panda_arm2_2059996578.launch
similarity index 96%
rename from results/dummy/-430424823/launch/panda_arm2_-430424823.launch
rename to results/dummy/2059996578/launch/panda_arm2_2059996578.launch
index ac285dd..9a2747d 100644
--- a/results/dummy/-430424823/launch/panda_arm2_-430424823.launch
+++ b/results/dummy/2059996578/launch/panda_arm2_2059996578.launch
@@ -2,7 +2,7 @@
 <arg name="referenceRobot" default="panda_arm2" />
 <arg name="referenceXYZ" default="-0.220005 1.305 0.8875"/>
 <arg name="referenceRPY" default="0 -0 2.67427e-06"/>
-<arg name="result" default="dummy/-430424823/-430424823.yaml" />
+<arg name="result" default="dummy/2059996578/2059996578.yaml" />
 <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
 <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
 <rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
@@ -48,7 +48,7 @@
 <param name="planning_group_name" value="panda_arm_hand" />
 <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
 <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-430424823/configs/-430424823_panda_arm2.yaml"/>
+<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/2059996578/configs/2059996578_panda_arm2.yaml"/>
 </node>
 <arg name="planner" default="ompl" />
 <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
diff --git a/results/dummy/21093532/21093532.yaml b/results/dummy/21093532/21093532.yaml
deleted file mode 100644
index 306a719..0000000
--- a/results/dummy/21093532/21093532.yaml
+++ /dev/null
@@ -1,34 +0,0 @@
-{ 'objects' : [ 
-{ 'id' : 'table1_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table1_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_table_top', 'pos': { 'x': -0.200002 , 'y': -0.000002 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000002 } },
-{ 'id' : 'table2_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table2_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_table_top', 'pos': { 'x': -0.200005 , 'y': 1.304998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000003 } },
-{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.200004 , 'y': 0.652498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table1_front_panel' , 'pos': { 'x': 0.452498 , 'y': -0.000000 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.200000 , 'y': -0.652502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.200007 , 'y': 1.957498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table2_front_panel' , 'pos': { 'x': 0.452495 , 'y': 1.305000 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'blue1',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue2',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue3',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.1, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green1',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green2',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red1',  'type': 'BOX', 'pos': { 'x': -0.3, 'y': -0.6, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red2',  'type': 'BOX', 'pos': { 'x': 0.3, 'y': 1.41, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.420002, 'y': -0.000003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.420005, 'y': 1.304997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-]}
\ No newline at end of file
diff --git a/results/dummy/21093532/configs/21093532_panda_arm1.yaml b/results/dummy/21093532/configs/21093532_panda_arm1.yaml
deleted file mode 100644
index 74bd7bb..0000000
--- a/results/dummy/21093532/configs/21093532_panda_arm1.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.200002, -2.04146e-06, 0.91], 'rot': [0, -0, 2.49943e-06], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-0.200002, -2.04146e-06, 0.99], 'rot': [0, -0, 2.49943e-06]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/21093532/configs/21093532_panda_arm2.yaml b/results/dummy/21093532/configs/21093532_panda_arm2.yaml
deleted file mode 100644
index 0908f3f..0000000
--- a/results/dummy/21093532/configs/21093532_panda_arm2.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.200005, 1.305, 0.91], 'rot': [0, -0, 2.67427e-06], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-0.200005, 1.305, 0.99], 'rot': [0, -0, 2.67427e-06]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/21093532/launch/panda_arm1_21093532.launch b/results/dummy/21093532/launch/panda_arm1_21093532.launch
deleted file mode 100644
index 9172fc7..0000000
--- a/results/dummy/21093532/launch/panda_arm1_21093532.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm1" />
-<arg name="referenceXYZ" default="-0.420002 -2.59133e-06 0.8875"/>
-<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
-<arg name="result" default="dummy/21093532/21093532.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/21093532/configs/21093532_panda_arm1.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/21093532/launch/panda_arm2_21093532.launch b/results/dummy/21093532/launch/panda_arm2_21093532.launch
deleted file mode 100644
index 2d08085..0000000
--- a/results/dummy/21093532/launch/panda_arm2_21093532.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm2" />
-<arg name="referenceXYZ" default="-0.420005 1.305 0.8875"/>
-<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
-<arg name="result" default="dummy/21093532/21093532.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/21093532/configs/21093532_panda_arm2.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/-455104659/-455104659.yaml b/results/dummy/38428695/38428695.yaml
similarity index 100%
rename from results/dummy/-455104659/-455104659.yaml
rename to results/dummy/38428695/38428695.yaml
diff --git a/results/dummy/621087765/configs/621087765_panda_arm1.yaml b/results/dummy/38428695/configs/38428695_panda_arm1.yaml
similarity index 100%
rename from results/dummy/621087765/configs/621087765_panda_arm1.yaml
rename to results/dummy/38428695/configs/38428695_panda_arm1.yaml
diff --git a/results/dummy/621087765/configs/621087765_panda_arm2.yaml b/results/dummy/38428695/configs/38428695_panda_arm2.yaml
similarity index 100%
rename from results/dummy/621087765/configs/621087765_panda_arm2.yaml
rename to results/dummy/38428695/configs/38428695_panda_arm2.yaml
diff --git a/results/dummy/621087765/launch/panda_arm1_621087765.launch b/results/dummy/38428695/launch/panda_arm1_38428695.launch
similarity index 96%
rename from results/dummy/621087765/launch/panda_arm1_621087765.launch
rename to results/dummy/38428695/launch/panda_arm1_38428695.launch
index b2bfb03..8a40517 100644
--- a/results/dummy/621087765/launch/panda_arm1_621087765.launch
+++ b/results/dummy/38428695/launch/panda_arm1_38428695.launch
@@ -2,7 +2,7 @@
 <arg name="referenceRobot" default="panda_arm1" />
 <arg name="referenceXYZ" default="-0.220002 -0.100003 0.8875"/>
 <arg name="referenceRPY" default="0 -0 2.49943e-06"/>
-<arg name="result" default="dummy/621087765/621087765.yaml" />
+<arg name="result" default="dummy/38428695/38428695.yaml" />
 <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
 <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
 <rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
@@ -48,7 +48,7 @@
 <param name="planning_group_name" value="panda_arm_hand" />
 <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
 <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/621087765/configs/621087765_panda_arm1.yaml"/>
+<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/38428695/configs/38428695_panda_arm1.yaml"/>
 </node>
 <arg name="planner" default="ompl" />
 <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
diff --git a/results/dummy/621087765/launch/panda_arm2_621087765.launch b/results/dummy/38428695/launch/panda_arm2_38428695.launch
similarity index 96%
rename from results/dummy/621087765/launch/panda_arm2_621087765.launch
rename to results/dummy/38428695/launch/panda_arm2_38428695.launch
index 537d329..c207df7 100644
--- a/results/dummy/621087765/launch/panda_arm2_621087765.launch
+++ b/results/dummy/38428695/launch/panda_arm2_38428695.launch
@@ -2,7 +2,7 @@
 <arg name="referenceRobot" default="panda_arm2" />
 <arg name="referenceXYZ" default="-0.220005 1.205 0.8875"/>
 <arg name="referenceRPY" default="0 -0 2.67427e-06"/>
-<arg name="result" default="dummy/621087765/621087765.yaml" />
+<arg name="result" default="dummy/38428695/38428695.yaml" />
 <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
 <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
 <rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
@@ -48,7 +48,7 @@
 <param name="planning_group_name" value="panda_arm_hand" />
 <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
 <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/621087765/configs/621087765_panda_arm2.yaml"/>
+<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/38428695/configs/38428695_panda_arm2.yaml"/>
 </node>
 <arg name="planner" default="ompl" />
 <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
diff --git a/results/dummy/451266307/configs/451266307_panda_arm1.yaml b/results/dummy/451266307/configs/451266307_panda_arm1.yaml
deleted file mode 100644
index 4040d4a..0000000
--- a/results/dummy/451266307/configs/451266307_panda_arm1.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.100002, -2.04146e-06, 0.91], 'rot': [0, -0, 2.49943e-06], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-0.100002, -2.04146e-06, 0.99], 'rot': [0, -0, 2.49943e-06]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/451266307/configs/451266307_panda_arm2.yaml b/results/dummy/451266307/configs/451266307_panda_arm2.yaml
deleted file mode 100644
index 54ae0dc..0000000
--- a/results/dummy/451266307/configs/451266307_panda_arm2.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.100005, 1.305, 0.91], 'rot': [0, -0, 2.67427e-06], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-0.100005, 1.305, 0.99], 'rot': [0, -0, 2.67427e-06]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/451266307/launch/panda_arm1_451266307.launch b/results/dummy/451266307/launch/panda_arm1_451266307.launch
deleted file mode 100644
index c0936b7..0000000
--- a/results/dummy/451266307/launch/panda_arm1_451266307.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm1" />
-<arg name="referenceXYZ" default="-0.320002 -2.59133e-06 0.8875"/>
-<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
-<arg name="result" default="dummy/451266307/451266307.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/451266307/configs/451266307_panda_arm1.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/451266307/launch/panda_arm2_451266307.launch b/results/dummy/451266307/launch/panda_arm2_451266307.launch
deleted file mode 100644
index 0bbdd8e..0000000
--- a/results/dummy/451266307/launch/panda_arm2_451266307.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm2" />
-<arg name="referenceXYZ" default="-0.320005 1.305 0.8875"/>
-<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
-<arg name="result" default="dummy/451266307/451266307.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/451266307/configs/451266307_panda_arm2.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/77303307/77303307.yaml b/results/dummy/77303307/77303307.yaml
deleted file mode 100644
index 3399169..0000000
--- a/results/dummy/77303307/77303307.yaml
+++ /dev/null
@@ -1,33 +0,0 @@
-{ 'objects' : [ 
-{ 'id' : 'table1_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table1_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_table_top', 'pos': { 'x': -0.100002 , 'y': -0.100002 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000002 } },
-{ 'id' : 'table2_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table2_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_table_top', 'pos': { 'x': -0.100006 , 'y': 1.404998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000003 } },
-{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.100004 , 'y': 0.552498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table1_front_panel' , 'pos': { 'x': 0.552498 , 'y': -0.100000 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.100000 , 'y': -0.752502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.100008 , 'y': 2.057498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'blue1',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue2',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue3',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.1, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green1',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green2',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red1',  'type': 'BOX', 'pos': { 'x': -0.3, 'y': -0.6, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red2',  'type': 'BOX', 'pos': { 'x': 0.3, 'y': 1.41, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.320002, 'y': -0.100003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.320006, 'y': 1.404997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-]}
\ No newline at end of file
diff --git a/results/dummy/77303307/configs/77303307_panda_arm1.yaml b/results/dummy/77303307/configs/77303307_panda_arm1.yaml
deleted file mode 100644
index 4359a90..0000000
--- a/results/dummy/77303307/configs/77303307_panda_arm1.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.100002, -0.100002, 0.91], 'rot': [0, -0, 2.49943e-06], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-0.100002, -0.100002, 0.99], 'rot': [0, -0, 2.49943e-06]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/77303307/configs/77303307_panda_arm2.yaml b/results/dummy/77303307/configs/77303307_panda_arm2.yaml
deleted file mode 100644
index 5e62f59..0000000
--- a/results/dummy/77303307/configs/77303307_panda_arm2.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.100006, 1.405, 0.91], 'rot': [0, -0, 2.67427e-06], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-0.100006, 1.405, 0.99], 'rot': [0, -0, 2.67427e-06]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/77303307/launch/panda_arm1_77303307.launch b/results/dummy/77303307/launch/panda_arm1_77303307.launch
deleted file mode 100644
index f542c37..0000000
--- a/results/dummy/77303307/launch/panda_arm1_77303307.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm1" />
-<arg name="referenceXYZ" default="-0.320002 -0.100003 0.8875"/>
-<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
-<arg name="result" default="dummy/77303307/77303307.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/77303307/configs/77303307_panda_arm1.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/77303307/launch/panda_arm2_77303307.launch b/results/dummy/77303307/launch/panda_arm2_77303307.launch
deleted file mode 100644
index 3e6489e..0000000
--- a/results/dummy/77303307/launch/panda_arm2_77303307.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm2" />
-<arg name="referenceXYZ" default="-0.320006 1.405 0.8875"/>
-<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
-<arg name="result" default="dummy/77303307/77303307.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/77303307/configs/77303307_panda_arm2.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/794022642/794022642.yaml b/results/dummy/794022642/794022642.yaml
deleted file mode 100644
index 621a38c..0000000
--- a/results/dummy/794022642/794022642.yaml
+++ /dev/null
@@ -1,33 +0,0 @@
-{ 'objects' : [ 
-{ 'id' : 'table1_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table1_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_table_top', 'pos': { 'x': -0.000002 , 'y': -0.000002 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 1.000000 , 'w': -0.000001 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': -3.141591 } },
-{ 'id' : 'table2_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table2_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_table_top', 'pos': { 'x': -0.000004 , 'y': 1.304998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000001 } },
-{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.000001 , 'y': -0.652502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 1.000000 , 'w': -0.000001 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table1_front_panel' , 'pos': { 'x': -0.652502 , 'y': -0.000003 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 1.000000 , 'w': -0.000001 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000003 , 'y': 0.652498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 1.000000 , 'w': -0.000001 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000005 , 'y': 1.957498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'blue1',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue2',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue3',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.1, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green1',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green2',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red1',  'type': 'BOX', 'pos': { 'x': -0.3, 'y': -0.6, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red2',  'type': 'BOX', 'pos': { 'x': 0.3, 'y': 1.41, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'arm1','type': 'ARM','pos': { 'x': 0.219998, 'y': -0.000002, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 1.000000, 'w': -0.000001 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220004, 'y': 1.304998, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-]}
\ No newline at end of file
diff --git a/results/dummy/794022642/configs/794022642_panda_arm1.yaml b/results/dummy/794022642/configs/794022642_panda_arm1.yaml
deleted file mode 100644
index bbf69db..0000000
--- a/results/dummy/794022642/configs/794022642_panda_arm1.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-2.04146e-06, -2.04146e-06, 0.91], 'rot': [0, -0, -3.14159], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-2.04146e-06, -2.04146e-06, 0.99], 'rot': [0, -0, -3.14159]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/794022642/configs/794022642_panda_arm2.yaml b/results/dummy/794022642/configs/794022642_panda_arm2.yaml
deleted file mode 100644
index 9d1f0b5..0000000
--- a/results/dummy/794022642/configs/794022642_panda_arm2.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-3.67233e-06, 1.305, 0.91], 'rot': [0, -0, 1.33714e-06], 'verbose': false }
-voxel_size: 0.02 
-voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-3.67233e-06, 1.305, 0.99], 'rot': [0, -0, 1.33714e-06]}
-voxel_verbose_level: 0
-translation_rate: 0.03
-rotation_rate: 45.0
-rotation_max: 90.0
-clearance: 0.01
-min_quality: 0.1
-max_candidate_count: 10
-allow_dependencies: true
-top_grasps_only: true
diff --git a/results/dummy/794022642/launch/panda_arm1_794022642.launch b/results/dummy/794022642/launch/panda_arm1_794022642.launch
deleted file mode 100644
index c25233a..0000000
--- a/results/dummy/794022642/launch/panda_arm1_794022642.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm1" />
-<arg name="referenceXYZ" default="0.219998 -1.76652e-06 0.8875"/>
-<arg name="referenceRPY" default="0 -0 -3.14159"/>
-<arg name="result" default="dummy/794022642/794022642.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/794022642/configs/794022642_panda_arm1.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/794022642/launch/panda_arm2_794022642.launch b/results/dummy/794022642/launch/panda_arm2_794022642.launch
deleted file mode 100644
index b6f19b3..0000000
--- a/results/dummy/794022642/launch/panda_arm2_794022642.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-<arg name="referenceRobot" default="panda_arm2" />
-<arg name="referenceXYZ" default="-0.220004 1.305 0.8875"/>
-<arg name="referenceRPY" default="0 -0 1.33714e-06"/>
-<arg name="result" default="dummy/794022642/794022642.yaml" />
-<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
-<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
-<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
-<arg name="pipeline" default="ompl"/>
-<arg name="db" default="false"/>
-<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
-<arg name="debug" default="false" />
-<arg name="load_robot_description" default="true"/>
-<arg name="moveit_controller_manager" default="fake"/>
-<arg name="fake_execution_type" default="interpolate"/>
-<arg name="use_gui" default="false"/>
-<arg name="use_rviz" default="true"/>
-<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
-<group if="$(eval arg('moveit_controller_manager') == 'fake')">
-<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-</node>
-<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
-</group>
-<include file="$(find panda_moveit_config)/launch/move_group.launch">
-<arg name="allow_trajectory_execution" value="true"/>
-<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-<arg name="info" value="true"/>
-<arg name="debug" value="$(arg debug)"/>
-<arg name="pipeline" value="$(arg pipeline)"/>
-<arg name="load_robot_description" value="$(arg load_robot_description)"/>
-<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
-<arg name="referenceRPY" value="$(arg referenceRPY)"/>
-</include>
-<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
-<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-</include>
-<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
-<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-</node>
-<node name="config_routine"  pkg="multi_cell_builder" type="config_routine" output="screen">
-<param name="gripper" value="two_finger"/>
-<param name="ee_group_name" value="hand"/>
-<param name="planning_group_name" value="panda_arm_hand" />
-<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
-<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/794022642/configs/794022642_panda_arm2.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>
diff --git a/results/dummy/-1427321257/-1427321257.yaml b/results/dummy/883585462/883585462.yaml
similarity index 100%
rename from results/dummy/-1427321257/-1427321257.yaml
rename to results/dummy/883585462/883585462.yaml
diff --git a/results/dummy/-430424823/configs/-430424823_panda_arm1.yaml b/results/dummy/883585462/configs/883585462_panda_arm1.yaml
similarity index 100%
rename from results/dummy/-430424823/configs/-430424823_panda_arm1.yaml
rename to results/dummy/883585462/configs/883585462_panda_arm1.yaml
diff --git a/results/dummy/-430424823/configs/-430424823_panda_arm2.yaml b/results/dummy/883585462/configs/883585462_panda_arm2.yaml
similarity index 100%
rename from results/dummy/-430424823/configs/-430424823_panda_arm2.yaml
rename to results/dummy/883585462/configs/883585462_panda_arm2.yaml
diff --git a/results/dummy/-1427321257/launch/panda_arm1_-1427321257.launch b/results/dummy/883585462/launch/panda_arm1_883585462.launch
similarity index 96%
rename from results/dummy/-1427321257/launch/panda_arm1_-1427321257.launch
rename to results/dummy/883585462/launch/panda_arm1_883585462.launch
index c93a42b..62dd004 100644
--- a/results/dummy/-1427321257/launch/panda_arm1_-1427321257.launch
+++ b/results/dummy/883585462/launch/panda_arm1_883585462.launch
@@ -2,7 +2,7 @@
 <arg name="referenceRobot" default="panda_arm1" />
 <arg name="referenceXYZ" default="-0.220002 -2.59133e-06 0.8875"/>
 <arg name="referenceRPY" default="0 -0 2.49943e-06"/>
-<arg name="result" default="dummy/-1427321257/-1427321257.yaml" />
+<arg name="result" default="dummy/883585462/883585462.yaml" />
 <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
 <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
 <rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
@@ -48,7 +48,7 @@
 <param name="planning_group_name" value="panda_arm_hand" />
 <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
 <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1427321257/configs/-1427321257_panda_arm1.yaml"/>
+<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/883585462/configs/883585462_panda_arm1.yaml"/>
 </node>
 <arg name="planner" default="ompl" />
 <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
diff --git a/results/dummy/-1427321257/launch/panda_arm2_-1427321257.launch b/results/dummy/883585462/launch/panda_arm2_883585462.launch
similarity index 96%
rename from results/dummy/-1427321257/launch/panda_arm2_-1427321257.launch
rename to results/dummy/883585462/launch/panda_arm2_883585462.launch
index 2316984..bd3077c 100644
--- a/results/dummy/-1427321257/launch/panda_arm2_-1427321257.launch
+++ b/results/dummy/883585462/launch/panda_arm2_883585462.launch
@@ -2,7 +2,7 @@
 <arg name="referenceRobot" default="panda_arm2" />
 <arg name="referenceXYZ" default="-0.220005 1.305 0.8875"/>
 <arg name="referenceRPY" default="0 -0 2.67427e-06"/>
-<arg name="result" default="dummy/-1427321257/-1427321257.yaml" />
+<arg name="result" default="dummy/883585462/883585462.yaml" />
 <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
 <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
 <rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
@@ -48,7 +48,7 @@
 <param name="planning_group_name" value="panda_arm_hand" />
 <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
 <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
-<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1427321257/configs/-1427321257_panda_arm2.yaml"/>
+<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/883585462/configs/883585462_panda_arm2.yaml"/>
 </node>
 <arg name="planner" default="ompl" />
 <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
diff --git a/src/base_bridge/simple_base_implementation.cpp b/src/base_bridge/simple_base_implementation.cpp
index 45f60ff..9404398 100644
--- a/src/base_bridge/simple_base_implementation.cpp
+++ b/src/base_bridge/simple_base_implementation.cpp
@@ -45,14 +45,14 @@ void SimpleBaseImplementation::cloudCalculation(std::vector<tf2::Transform>& inv
 
     ROS_INFO("start [cloud] calculation...");
     // ------------------------------------------------------------
-    tf2::Transform root(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0,0.4425f));
+    tf2::Transform root(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.22f,0,0.445f));
     // ------------------------------------------------------------
     for(auto& s_c: target_cloud){
         for(int i = 0; i < s_c.second.size();i++){
             for(auto& itf : inv_map){
                 for(auto& r: task_space.at(s_c.first)[i].second){
                     tf2::Transform target(r, task_space.at(s_c.first)[i].first.pose_.getOrigin());
-                    tf2::Transform base = target * (itf * root);
+                    tf2::Transform base = target * itf * root;
                     s_c.second[i]->push_back(pcl::PointXYZ(base.getOrigin().getX(), base.getOrigin().getY(), base.getOrigin().getZ()));
                 }
             }
diff --git a/src/mediator/base_calculation_mediator.cpp b/src/mediator/base_calculation_mediator.cpp
index dbc4176..867e1bc 100644
--- a/src/mediator/base_calculation_mediator.cpp
+++ b/src/mediator/base_calculation_mediator.cpp
@@ -99,6 +99,49 @@ bool BaseCalculationMediator::checkCollision(const std::string& robot, std::bits
         marker.scale.z = 0.1f;
 
         // ROS_INFO("%f, %f, %f", ts.at(robot)[i].pose_.getOrigin().getX(), ts.at(robot)[i].pose_.getOrigin().getY(), ts.at(robot)[i].pose_.getOrigin().getZ());
+        // std::vector<tf2::Transform> box_bounds;
+        std::string some_string;
+        bool standing = true;
+        tf2::Transform tr1 =  ts[i].pose_ * tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(ts[i].size_.getX()*0.5f, ts[i].size_.getY()*0.5f, 0)); 
+        tf2::Transform tr2 =  ts[i].pose_ * tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-ts[i].size_.getX()*0.5f, ts[i].size_.getY()*0.5f, 0)); 
+        tf2::Transform tr3 =  ts[i].pose_ * tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-ts[i].size_.getX()*0.5f, -ts[i].size_.getY()*0.5f, 0));
+        tf2::Transform tr4 =  ts[i].pose_ * tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(ts[i].size_.getX()*0.5f, -ts[i].size_.getY()*0.5f, 0));
+        standing &= ceti1->checkSingleObjectCollision(tr1, some_string, panel_mask);
+        standing &= ceti1->checkSingleObjectCollision(tr2, some_string, panel_mask);
+        standing &= ceti1->checkSingleObjectCollision(tr3, some_string, panel_mask);
+        standing &= ceti1->checkSingleObjectCollision(tr4, some_string, panel_mask);
+        if (!standing) {
+            succ = false;
+            return false;
+        }
+
+        // Publish Bounds
+        for(int j = 0; j < ceti1->robotRootBounds().size(); j++){
+            tf2::Transform temp1 = ceti1->tf() * ceti1->rootTf() * ceti1->robotRootBounds()[j];
+            visualization_msgs::Marker boundsMarker;
+            boundsMarker.header.frame_id = "map";
+            boundsMarker.header.stamp = ros::Time();
+            boundsMarker.ns = (char*) &ceti1->robotRootBounds();
+            boundsMarker.id = j;
+            boundsMarker.type = visualization_msgs::Marker::CUBE;
+            boundsMarker.action = visualization_msgs::Marker::ADD;
+            boundsMarker.pose.position.x = temp1.getOrigin().getX();
+            boundsMarker.pose.position.y = temp1.getOrigin().getY();
+            boundsMarker.pose.position.z = temp1.getOrigin().getZ();
+            boundsMarker.pose.orientation.x = temp1.getRotation().getX();
+            boundsMarker.pose.orientation.y = temp1.getRotation().getY();
+            boundsMarker.pose.orientation.z = temp1.getRotation().getZ();
+            boundsMarker.pose.orientation.w = temp1.getRotation().getW();
+            boundsMarker.scale.x = 0.01f;
+            boundsMarker.scale.y = 0.01f;
+            boundsMarker.scale.z = 0.1f;
+            boundsMarker.color.r = 0;
+            boundsMarker.color.g = 0;
+            boundsMarker.color.b = 1;
+            boundsMarker.color.a = 1;
+            ma.markers.push_back(boundsMarker);
+        }
+
         if(ceti1->checkSingleObjectCollision(ts[i].pose_, str, panel_mask)){
             try {
                 workload_map.at(str)++;
@@ -133,30 +176,40 @@ void BaseCalculationMediator::mediate(){
     // estimate workcells
     auto ts = task_space_reader_->dropOffData();
     std::vector<std::vector<std::string>> wcs;
-    /*
-    for (auto it = ts.begin(); it != ts.end(); it++){
-        std::vector<std::string> wc = {it->first};
-        
-        auto itt = std::next(it);
-        for(auto& v1:  it->second){
-            ROS_INFO("penis");
-            for (; itt != ts.end(); itt++){
-                for(auto& v2:  itt->second){
-                    if(tf2::tf2Distance2(v1.pose_.getOrigin(), v2.pose_.getOrigin())){
-                        wc.push_back(itt->first);
+
+    std::map<std::string, bool> matchedMap;  
+
+    for (const auto& entry1 : ts) {
+        if (matchedMap[entry1.first]) continue;
+
+        std::vector<std::string> keysVec;
+        keysVec.push_back(entry1.first);  
+        matchedMap[entry1.first] = true;  
+
+        for (const auto& entry2 : ts) {
+            if (entry1.first == entry2.first || matchedMap[entry2.first]) continue;
+
+            bool matched = false;
+            for (const auto& tf1 : entry1.second) {
+                for (const auto& tf2 : entry2.second) {
+                    if (tf1.pose_ == tf2.pose_) {
+                        matched = true;
                         break;
                     }
                 }
+                if (matched) break;
+            }
+            if (matched) {
+                keysVec.push_back(entry2.first);  
+                matchedMap[entry2.first] = true;  
             }
         }
-        if(wc.size()>1) wcs.push_back(wc);
+        wcs.push_back(keysVec); 
     }
-    */
 
     /* wcs 
         [[panda_arm1, panda_arm2], [] ...]
     */
-    wcs.push_back(std::vector<std::string>{"panda_arm1", "panda_arm2"});
 
     /*
     [{panda_arm1: [xyz, xyz], panda_arm2: [xyz, xyz]}, {} ...]
@@ -190,7 +243,17 @@ void BaseCalculationMediator::mediate(){
         }
         workcells_with_bases.push_back(ground_projection);
     }
+
+    // Debug 
+    for (const auto& ws: workcells_with_bases){
+        for (const auto& r : ws){
+            ROS_INFO("%s with %i results", r.first, r.second.size());
+        }
+        ROS_INFO("------------");
+    }
     
+
+
     ROS_INFO("assigne result to first robot...");
     for(auto& wc: workcells_with_bases){
         /* 
diff --git a/test/mediator/test_base.cpp b/test/mediator/test_base.cpp
new file mode 100644
index 0000000..9a63162
--- /dev/null
+++ b/test/mediator/test_base.cpp
@@ -0,0 +1,73 @@
+#include <ros/ros.h>
+#include <behaviortree_cpp_v3/behavior_tree.h>
+#include <behaviortree_cpp_v3/tree_node.h>
+#include <behaviortree_cpp_v3/bt_factory.h>
+#include <behaviortree_cpp_v3/loggers/bt_zmq_publisher.h>
+#include <stdint.h>
+
+#include "reader/abstract_param_reader.h"
+#include "bt/execution.h"
+#include "bt/position_condition.h"
+#include "bt/parallel_robot.h"
+
+#include <boost/circular_buffer.hpp>
+
+TEST(BaseTestSuit, workcellLogicTest){
+    /* Workcell Logic
+    A taskspace defines the shared workspace between manipulators.
+    */
+
+    std::map<std::string, std::vector<object_data>> inputMap = {
+        {"key3", {
+            {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(10,11, 12)), tf2::Vector3(0,0,0)},
+            {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(13,14, 15)), tf2::Vector3(0,0,0)},
+            {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(16,17, 18)), tf2::Vector3(0,0,0)},
+            }}, 
+        {"key2", {
+            {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(19, 20, 21)), tf2::Vector3(0,0,0)}, 
+            {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(22, 23, 24)), tf2::Vector3(0,0,0)},
+            {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(16, 17, 18)), tf2::Vector3(0,0,0)}
+            }}
+    };
+
+    std::vector<std::vector<std::string>> outputVec;
+    std::map<std::string, bool> matchedMap;  
+
+    for (const auto& entry1 : inputMap) {
+        if (matchedMap[entry1.first]) continue;
+
+        std::vector<std::string> keysVec;
+        keysVec.push_back(entry1.first);  
+        matchedMap[entry1.first] = true;  
+
+        for (const auto& entry2 : inputMap) {
+            if (entry1.first == entry2.first || matchedMap[entry2.first]) continue;
+
+            bool matched = false;
+            for (const auto& tf1 : entry1.second) {
+                for (const auto& tf2 : entry2.second) {
+                    if (tf1.pose_ == tf2.pose_) {
+                        matched = true;
+                        break;
+                    }
+                }
+                if (matched) break;
+            }
+            if (matched) {
+                keysVec.push_back(entry2.first);  
+                matchedMap[entry2.first] = true;  
+            }
+        }
+        outputVec.push_back(keysVec); 
+    }
+
+    ASSERT_EQ(outputVec.size(), 1);
+}
+
+
+int main(int argc, char **argv){
+    testing::InitGoogleTest(&argc, argv);
+    ros::init(argc, argv, "base-test");
+    ros::NodeHandle nh;
+    return RUN_ALL_TESTS();
+}
\ No newline at end of file
diff --git a/test/reader/test_bt.cpp b/test/reader/test_bt.cpp
index efe59b7..fc5a67c 100644
--- a/test/reader/test_bt.cpp
+++ b/test/reader/test_bt.cpp
@@ -154,37 +154,7 @@ TEST(BtTestSuit, ComplexCooperativeTest){
     ASSERT_EQ(cb_jd.size(), 3); // All jobs
 }
 
-TEST(BaseTestSuit, stringTest){
-    std::map<std::string, std::vector<tf2::Vector3>> input_map = {
-        {"a", {tf2::Vector3(0,0,0), tf2::Vector3(1,0,0)}},
-        {"b", {tf2::Vector3(1,0,0), tf2::Vector3(2,0,0)}},
-        {"c", {tf2::Vector3(0,1,0), tf2::Vector3(0,2,0)}}
-    };
-
-    std::vector<std::vector<std::string>> result;
-    std::set<std::string> keysUsed;
-    
-    for (const auto& pair1 : input_map) {
-        if (keysUsed.count(pair1.first) > 0) continue;
-        
-        auto lastVector1 = pair1.second.back();
-        std::vector<std::string> group = {pair1.first};
-        
-        for (const auto& pair2 : input_map) {
-            if (pair1.first == pair2.first || keysUsed.count(pair2.first) > 0) continue;
-            auto firstVector2 = pair2.second.front();
-            
-            if (lastVector1 == firstVector2) {
-                group.push_back(pair2.first);
-                lastVector1 = pair2.second.back();
-                keysUsed.insert(pair2.first);
-            }
-        }
-        result.push_back(group);
-    }
 
-    ASSERT_EQ(result.size(),2);
-}
 
 
 int main(int argc, char **argv){
diff --git a/test/reader/test_reader.cpp b/test/reader/test_reader.cpp
index 3061676..06d71e0 100644
--- a/test/reader/test_reader.cpp
+++ b/test/reader/test_reader.cpp
@@ -9,7 +9,7 @@
 TEST(ReaderTestSuit, cuboidReader){
     std::shared_ptr<ros::NodeHandle> nh = std::make_shared<ros::NodeHandle>();
     std::unique_ptr<CuboidReader> cr = std::make_unique<CuboidReader>(nh);
-    ASSERT_EQ(cr->cuboidBin().size(), 7);
+    ASSERT_EQ(cr->cuboidBox().size(), 7);
     ASSERT_EQ(cr->cuboidObstacle().size(), 0);
 }
 
-- 
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