diff --git a/results/dummy/2082550165/2082550165.yaml b/results/dummy/-1069777227/-1069777227.yaml
similarity index 100%
rename from results/dummy/2082550165/2082550165.yaml
rename to results/dummy/-1069777227/-1069777227.yaml
diff --git a/results/dummy/-276051748/configs/-276051748_panda_arm1.yaml b/results/dummy/-1069777227/configs/-1069777227_panda_arm1.yaml
similarity index 100%
rename from results/dummy/-276051748/configs/-276051748_panda_arm1.yaml
rename to results/dummy/-1069777227/configs/-1069777227_panda_arm1.yaml
diff --git a/results/dummy/-276051748/configs/-276051748_panda_arm2.yaml b/results/dummy/-1069777227/configs/-1069777227_panda_arm2.yaml
similarity index 100%
rename from results/dummy/-276051748/configs/-276051748_panda_arm2.yaml
rename to results/dummy/-1069777227/configs/-1069777227_panda_arm2.yaml
diff --git a/results/dummy/-1069777227/launch/panda_arm1_-1069777227.launch b/results/dummy/-1069777227/launch/panda_arm1_-1069777227.launch
new file mode 100644
index 0000000000000000000000000000000000000000..f192ae64de183ceda1566f2a145b24986f5b9802
--- /dev/null
+++ b/results/dummy/-1069777227/launch/panda_arm1_-1069777227.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm1" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.220002 -0.200003 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
+<arg name="result" default="dummy/-1069777227/-1069777227.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/-1069777227/configs/-1069777227_panda_arm1.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/-1069777227/launch/panda_arm2_-1069777227.launch b/results/dummy/-1069777227/launch/panda_arm2_-1069777227.launch
new file mode 100644
index 0000000000000000000000000000000000000000..81f7a65de3770644d1b21e7c49d3a8166cedcb10
--- /dev/null
+++ b/results/dummy/-1069777227/launch/panda_arm2_-1069777227.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm2" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.220006 1.4025 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
+<arg name="result" default="dummy/-1069777227/-1069777227.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/-1069777227/configs/-1069777227_panda_arm2.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/1938185681/1938185681.yaml b/results/dummy/-1591106626/-1591106626.yaml
similarity index 100%
rename from results/dummy/1938185681/1938185681.yaml
rename to results/dummy/-1591106626/-1591106626.yaml
diff --git a/results/dummy/-1982814221/configs/-1982814221_panda_arm1.yaml b/results/dummy/-1591106626/configs/-1591106626_panda_arm1.yaml
similarity index 100%
rename from results/dummy/-1982814221/configs/-1982814221_panda_arm1.yaml
rename to results/dummy/-1591106626/configs/-1591106626_panda_arm1.yaml
diff --git a/results/dummy/-1982814221/configs/-1982814221_panda_arm2.yaml b/results/dummy/-1591106626/configs/-1591106626_panda_arm2.yaml
similarity index 100%
rename from results/dummy/-1982814221/configs/-1982814221_panda_arm2.yaml
rename to results/dummy/-1591106626/configs/-1591106626_panda_arm2.yaml
diff --git a/results/dummy/-1591106626/launch/panda_arm1_-1591106626.launch b/results/dummy/-1591106626/launch/panda_arm1_-1591106626.launch
new file mode 100644
index 0000000000000000000000000000000000000000..ccfec99b18e360923dd31a7e28bbe92a02bb1af1
--- /dev/null
+++ b/results/dummy/-1591106626/launch/panda_arm1_-1591106626.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm1" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="0.219998 -1.76652e-06 0.8875"/>
+<arg name="referenceRPY" default="0 -0 -3.14159"/>
+<arg name="result" default="dummy/-1591106626/-1591106626.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/-1591106626/configs/-1591106626_panda_arm1.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/-1591106626/launch/panda_arm2_-1591106626.launch b/results/dummy/-1591106626/launch/panda_arm2_-1591106626.launch
new file mode 100644
index 0000000000000000000000000000000000000000..9c7acaa446f9d832f2b1e2aca3516173b2949abb
--- /dev/null
+++ b/results/dummy/-1591106626/launch/panda_arm2_-1591106626.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm2" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.220004 1.305 0.8875"/>
+<arg name="referenceRPY" default="0 -0 1.33714e-06"/>
+<arg name="result" default="dummy/-1591106626/-1591106626.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/-1591106626/configs/-1591106626_panda_arm2.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/1334033851/1334033851.yaml b/results/dummy/-1613604190/-1613604190.yaml
similarity index 100%
rename from results/dummy/1334033851/1334033851.yaml
rename to results/dummy/-1613604190/-1613604190.yaml
diff --git a/results/dummy/1334033851/configs/1334033851_panda_arm1.yaml b/results/dummy/-1613604190/configs/-1613604190_panda_arm1.yaml
similarity index 100%
rename from results/dummy/1334033851/configs/1334033851_panda_arm1.yaml
rename to results/dummy/-1613604190/configs/-1613604190_panda_arm1.yaml
diff --git a/results/dummy/1334033851/configs/1334033851_panda_arm2.yaml b/results/dummy/-1613604190/configs/-1613604190_panda_arm2.yaml
similarity index 100%
rename from results/dummy/1334033851/configs/1334033851_panda_arm2.yaml
rename to results/dummy/-1613604190/configs/-1613604190_panda_arm2.yaml
diff --git a/results/dummy/-1613604190/launch/panda_arm1_-1613604190.launch b/results/dummy/-1613604190/launch/panda_arm1_-1613604190.launch
new file mode 100644
index 0000000000000000000000000000000000000000..6c437b25e0f4648433a56589d5ff4ef1302244f7
--- /dev/null
+++ b/results/dummy/-1613604190/launch/panda_arm1_-1613604190.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm1" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.320002 -2.59133e-06 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
+<arg name="result" default="dummy/-1613604190/-1613604190.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/-1613604190/configs/-1613604190_panda_arm1.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/-1613604190/launch/panda_arm2_-1613604190.launch b/results/dummy/-1613604190/launch/panda_arm2_-1613604190.launch
new file mode 100644
index 0000000000000000000000000000000000000000..cba0787ad76c5ab7563d15dece926f6876b707c0
--- /dev/null
+++ b/results/dummy/-1613604190/launch/panda_arm2_-1613604190.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm2" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.320005 1.305 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
+<arg name="result" default="dummy/-1613604190/-1613604190.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/-1613604190/configs/-1613604190_panda_arm2.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/812255525/812255525.yaml b/results/dummy/-1756812213/-1756812213.yaml
similarity index 100%
rename from results/dummy/812255525/812255525.yaml
rename to results/dummy/-1756812213/-1756812213.yaml
diff --git a/results/dummy/812255525/configs/812255525_panda_arm1.yaml b/results/dummy/-1756812213/configs/-1756812213_panda_arm1.yaml
similarity index 100%
rename from results/dummy/812255525/configs/812255525_panda_arm1.yaml
rename to results/dummy/-1756812213/configs/-1756812213_panda_arm1.yaml
diff --git a/results/dummy/812255525/configs/812255525_panda_arm2.yaml b/results/dummy/-1756812213/configs/-1756812213_panda_arm2.yaml
similarity index 100%
rename from results/dummy/812255525/configs/812255525_panda_arm2.yaml
rename to results/dummy/-1756812213/configs/-1756812213_panda_arm2.yaml
diff --git a/results/dummy/-1756812213/launch/panda_arm1_-1756812213.launch b/results/dummy/-1756812213/launch/panda_arm1_-1756812213.launch
new file mode 100644
index 0000000000000000000000000000000000000000..a213858868335acd65457a2f2f398b7f6d090562
--- /dev/null
+++ b/results/dummy/-1756812213/launch/panda_arm1_-1756812213.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm1" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.320002 -2.59133e-06 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
+<arg name="result" default="dummy/-1756812213/-1756812213.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/-1756812213/configs/-1756812213_panda_arm1.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/-1756812213/launch/panda_arm2_-1756812213.launch b/results/dummy/-1756812213/launch/panda_arm2_-1756812213.launch
new file mode 100644
index 0000000000000000000000000000000000000000..888320d6738cff148e1e1db20c39ec93fdeade76
--- /dev/null
+++ b/results/dummy/-1756812213/launch/panda_arm2_-1756812213.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm2" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.320005 1.305 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
+<arg name="result" default="dummy/-1756812213/-1756812213.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/-1756812213/configs/-1756812213_panda_arm2.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/1879793725/1879793725.yaml b/results/dummy/-1819966056/-1819966056.yaml
similarity index 100%
rename from results/dummy/1879793725/1879793725.yaml
rename to results/dummy/-1819966056/-1819966056.yaml
diff --git a/results/dummy/-1505208581/configs/-1505208581_panda_arm1.yaml b/results/dummy/-1819966056/configs/-1819966056_panda_arm1.yaml
similarity index 100%
rename from results/dummy/-1505208581/configs/-1505208581_panda_arm1.yaml
rename to results/dummy/-1819966056/configs/-1819966056_panda_arm1.yaml
diff --git a/results/dummy/-1505208581/configs/-1505208581_panda_arm2.yaml b/results/dummy/-1819966056/configs/-1819966056_panda_arm2.yaml
similarity index 100%
rename from results/dummy/-1505208581/configs/-1505208581_panda_arm2.yaml
rename to results/dummy/-1819966056/configs/-1819966056_panda_arm2.yaml
diff --git a/results/dummy/-1819966056/launch/panda_arm1_-1819966056.launch b/results/dummy/-1819966056/launch/panda_arm1_-1819966056.launch
new file mode 100644
index 0000000000000000000000000000000000000000..c0d6c3649d2d547655884ce6af11ad4822fc1365
--- /dev/null
+++ b/results/dummy/-1819966056/launch/panda_arm1_-1819966056.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm1" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.220002 0.0999974 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
+<arg name="result" default="dummy/-1819966056/-1819966056.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/-1819966056/configs/-1819966056_panda_arm1.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/-1819966056/launch/panda_arm2_-1819966056.launch b/results/dummy/-1819966056/launch/panda_arm2_-1819966056.launch
new file mode 100644
index 0000000000000000000000000000000000000000..d85418b2883f9d0e9a301dce706e8d4cb69dac09
--- /dev/null
+++ b/results/dummy/-1819966056/launch/panda_arm2_-1819966056.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm2" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.220005 1.405 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
+<arg name="result" default="dummy/-1819966056/-1819966056.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/-1819966056/configs/-1819966056_panda_arm2.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/-276051748/-276051748.yaml b/results/dummy/-401688786/-401688786.yaml
similarity index 90%
rename from results/dummy/-276051748/-276051748.yaml
rename to results/dummy/-401688786/-401688786.yaml
index 0a68d83100748ebd8390776025b908278b6fe975..6411aaa6a9e613f4a9dfb4f7910eade420236a66 100644
--- a/results/dummy/-276051748/-276051748.yaml
+++ b/results/dummy/-401688786/-401688786.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': -0.000002 , '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' : 'table1_table_top', 'pos': { 'x': -0.000002 , '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 }}, 
@@ -16,11 +16,11 @@
 { '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' : 'table2_table_top', 'pos': { 'x': -0.000005 , 'y': 1.204998 , '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': 0.552498 , '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': 0.652498 , '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': -0.752502 , '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': -0.000007 , 'y': 1.857498 , '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': 'binBlue','type': 'BIN','pos': { 'x': -0.34,'y': 0.49,'z': 0.9725 },  'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
 { 'id': 'binRed','type': 'BIN','pos': { 'x': 0.06,'y': 0.49,'z': 0.9725 },    'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
 { 'id': 'binGreen','type': 'BIN','pos': { 'x': 0.46,'y': 0.49,'z': 0.9725 },  'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
@@ -30,6 +30,6 @@
 { 'id': 'object4','type': 'BOX','pos': { 'x': -0.6,'y': -0.4,'z': 0.996 },   'size': { 'length': 0.031,'width': 0.062,'height': 0.121},'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'g': 1 } },
 { 'id': 'object5','type': 'BOX','pos': { 'x': -0.4,'y': -0.5,'z': 0.959 },  'size': { 'length': 0.031,'width': 0.031,'height': 0.138},'orientation': { 'z': 1,'w': 0.92388 },'color': { 'g': 1 } },
 { 'id': 'obstacle1','pos': { 'x': 0.34,'y': -0.11,'z': 0.94 },  'size': { 'length': 0.3,'width': 0.3,'height': 0.1 },'orientation': { 'z': 0.452123,'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 } }, 
+{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.220002, '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': -0.220005, 'y': 1.204997, '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/-1775841698/configs/-1775841698_panda_arm1.yaml b/results/dummy/-401688786/configs/-401688786_panda_arm1.yaml
similarity index 100%
rename from results/dummy/-1775841698/configs/-1775841698_panda_arm1.yaml
rename to results/dummy/-401688786/configs/-401688786_panda_arm1.yaml
diff --git a/results/dummy/-1775841698/configs/-1775841698_panda_arm2.yaml b/results/dummy/-401688786/configs/-401688786_panda_arm2.yaml
similarity index 100%
rename from results/dummy/-1775841698/configs/-1775841698_panda_arm2.yaml
rename to results/dummy/-401688786/configs/-401688786_panda_arm2.yaml
diff --git a/results/dummy/-401688786/launch/panda_arm1_-401688786.launch b/results/dummy/-401688786/launch/panda_arm1_-401688786.launch
new file mode 100644
index 0000000000000000000000000000000000000000..f199030a543a4b6c090fcecd0aa88fa3fc10dde7
--- /dev/null
+++ b/results/dummy/-401688786/launch/panda_arm1_-401688786.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm1" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.220002 -0.100003 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
+<arg name="result" default="dummy/-401688786/-401688786.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/-401688786/configs/-401688786_panda_arm1.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/-401688786/launch/panda_arm2_-401688786.launch b/results/dummy/-401688786/launch/panda_arm2_-401688786.launch
new file mode 100644
index 0000000000000000000000000000000000000000..f7db1b0162fa24405de92b356461306acb9fa646
--- /dev/null
+++ b/results/dummy/-401688786/launch/panda_arm2_-401688786.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm2" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.220005 1.205 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
+<arg name="result" default="dummy/-401688786/-401688786.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/-401688786/configs/-401688786_panda_arm2.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/-1505208581/-1505208581.yaml b/results/dummy/-572750681/-572750681.yaml
similarity index 100%
rename from results/dummy/-1505208581/-1505208581.yaml
rename to results/dummy/-572750681/-572750681.yaml
diff --git a/results/dummy/1879793725/configs/1879793725_panda_arm1.yaml b/results/dummy/-572750681/configs/-572750681_panda_arm1.yaml
similarity index 100%
rename from results/dummy/1879793725/configs/1879793725_panda_arm1.yaml
rename to results/dummy/-572750681/configs/-572750681_panda_arm1.yaml
diff --git a/results/dummy/1879793725/configs/1879793725_panda_arm2.yaml b/results/dummy/-572750681/configs/-572750681_panda_arm2.yaml
similarity index 100%
rename from results/dummy/1879793725/configs/1879793725_panda_arm2.yaml
rename to results/dummy/-572750681/configs/-572750681_panda_arm2.yaml
diff --git a/results/dummy/-572750681/launch/panda_arm1_-572750681.launch b/results/dummy/-572750681/launch/panda_arm1_-572750681.launch
new file mode 100644
index 0000000000000000000000000000000000000000..435932542932fac6bc07a262c9d2ecbacc7824e9
--- /dev/null
+++ b/results/dummy/-572750681/launch/panda_arm1_-572750681.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm1" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.220002 0.0999974 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
+<arg name="result" default="dummy/-572750681/-572750681.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/-572750681/configs/-572750681_panda_arm1.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/-572750681/launch/panda_arm2_-572750681.launch b/results/dummy/-572750681/launch/panda_arm2_-572750681.launch
new file mode 100644
index 0000000000000000000000000000000000000000..a7919e9bc4d35c5974cfcfeaa907cc4b607d8a98
--- /dev/null
+++ b/results/dummy/-572750681/launch/panda_arm2_-572750681.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm2" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.220005 1.405 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
+<arg name="result" default="dummy/-572750681/-572750681.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/-572750681/configs/-572750681_panda_arm2.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/1938901935/1938901935.yaml b/results/dummy/-669386858/-669386858.yaml
similarity index 100%
rename from results/dummy/1938901935/1938901935.yaml
rename to results/dummy/-669386858/-669386858.yaml
diff --git a/results/dummy/-348871069/configs/-348871069_panda_arm1.yaml b/results/dummy/-669386858/configs/-669386858_panda_arm1.yaml
similarity index 100%
rename from results/dummy/-348871069/configs/-348871069_panda_arm1.yaml
rename to results/dummy/-669386858/configs/-669386858_panda_arm1.yaml
diff --git a/results/dummy/-348871069/configs/-348871069_panda_arm2.yaml b/results/dummy/-669386858/configs/-669386858_panda_arm2.yaml
similarity index 100%
rename from results/dummy/-348871069/configs/-348871069_panda_arm2.yaml
rename to results/dummy/-669386858/configs/-669386858_panda_arm2.yaml
diff --git a/results/dummy/-669386858/launch/panda_arm1_-669386858.launch b/results/dummy/-669386858/launch/panda_arm1_-669386858.launch
new file mode 100644
index 0000000000000000000000000000000000000000..7e3a6fb6d4ffcfbc19a085697595dea5cba57015
--- /dev/null
+++ b/results/dummy/-669386858/launch/panda_arm1_-669386858.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm1" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="0.119998 -1.76652e-06 0.8875"/>
+<arg name="referenceRPY" default="0 -0 -3.14159"/>
+<arg name="result" default="dummy/-669386858/-669386858.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/-669386858/configs/-669386858_panda_arm1.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/-669386858/launch/panda_arm2_-669386858.launch b/results/dummy/-669386858/launch/panda_arm2_-669386858.launch
new file mode 100644
index 0000000000000000000000000000000000000000..fc9cd2a5494c0774adf6c20c276e4fba2b766eea
--- /dev/null
+++ b/results/dummy/-669386858/launch/panda_arm2_-669386858.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm2" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.320004 1.305 0.8875"/>
+<arg name="referenceRPY" default="0 -0 1.33714e-06"/>
+<arg name="result" default="dummy/-669386858/-669386858.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/-669386858/configs/-669386858_panda_arm2.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/-1982814221/-1982814221.yaml b/results/dummy/-918908789/-918908789.yaml
similarity index 100%
rename from results/dummy/-1982814221/-1982814221.yaml
rename to results/dummy/-918908789/-918908789.yaml
diff --git a/results/dummy/1938185681/configs/1938185681_panda_arm1.yaml b/results/dummy/-918908789/configs/-918908789_panda_arm1.yaml
similarity index 100%
rename from results/dummy/1938185681/configs/1938185681_panda_arm1.yaml
rename to results/dummy/-918908789/configs/-918908789_panda_arm1.yaml
diff --git a/results/dummy/1938185681/configs/1938185681_panda_arm2.yaml b/results/dummy/-918908789/configs/-918908789_panda_arm2.yaml
similarity index 100%
rename from results/dummy/1938185681/configs/1938185681_panda_arm2.yaml
rename to results/dummy/-918908789/configs/-918908789_panda_arm2.yaml
diff --git a/results/dummy/-918908789/launch/panda_arm1_-918908789.launch b/results/dummy/-918908789/launch/panda_arm1_-918908789.launch
new file mode 100644
index 0000000000000000000000000000000000000000..6923f7379fa03ae9c9c1bd73c5f01de67db0e536
--- /dev/null
+++ b/results/dummy/-918908789/launch/panda_arm1_-918908789.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm1" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="0.219998 -1.76652e-06 0.8875"/>
+<arg name="referenceRPY" default="0 -0 -3.14159"/>
+<arg name="result" default="dummy/-918908789/-918908789.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/-918908789/configs/-918908789_panda_arm1.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/-918908789/launch/panda_arm2_-918908789.launch b/results/dummy/-918908789/launch/panda_arm2_-918908789.launch
new file mode 100644
index 0000000000000000000000000000000000000000..2f4d2e84f7f8379202364e78ec73bfaa22c483f4
--- /dev/null
+++ b/results/dummy/-918908789/launch/panda_arm2_-918908789.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm2" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.220004 1.305 0.8875"/>
+<arg name="referenceRPY" default="0 -0 1.33714e-06"/>
+<arg name="result" default="dummy/-918908789/-918908789.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/-918908789/configs/-918908789_panda_arm2.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/-348871069/-348871069.yaml b/results/dummy/1040381609/1040381609.yaml
similarity index 100%
rename from results/dummy/-348871069/-348871069.yaml
rename to results/dummy/1040381609/1040381609.yaml
diff --git a/results/dummy/1938901935/configs/1938901935_panda_arm1.yaml b/results/dummy/1040381609/configs/1040381609_panda_arm1.yaml
similarity index 100%
rename from results/dummy/1938901935/configs/1938901935_panda_arm1.yaml
rename to results/dummy/1040381609/configs/1040381609_panda_arm1.yaml
diff --git a/results/dummy/1938901935/configs/1938901935_panda_arm2.yaml b/results/dummy/1040381609/configs/1040381609_panda_arm2.yaml
similarity index 100%
rename from results/dummy/1938901935/configs/1938901935_panda_arm2.yaml
rename to results/dummy/1040381609/configs/1040381609_panda_arm2.yaml
diff --git a/results/dummy/1040381609/launch/panda_arm1_1040381609.launch b/results/dummy/1040381609/launch/panda_arm1_1040381609.launch
new file mode 100644
index 0000000000000000000000000000000000000000..abe0c647f986613a1c272d8aa2b0f6c1c2047cd4
--- /dev/null
+++ b/results/dummy/1040381609/launch/panda_arm1_1040381609.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm1" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="0.119998 -1.76652e-06 0.8875"/>
+<arg name="referenceRPY" default="0 -0 -3.14159"/>
+<arg name="result" default="dummy/1040381609/1040381609.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/1040381609/configs/1040381609_panda_arm1.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/1040381609/launch/panda_arm2_1040381609.launch b/results/dummy/1040381609/launch/panda_arm2_1040381609.launch
new file mode 100644
index 0000000000000000000000000000000000000000..8f216e315acba2d17bbb0e358e1f3b7541c22fcf
--- /dev/null
+++ b/results/dummy/1040381609/launch/panda_arm2_1040381609.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm2" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.320004 1.305 0.8875"/>
+<arg name="referenceRPY" default="0 -0 1.33714e-06"/>
+<arg name="result" default="dummy/1040381609/1040381609.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/1040381609/configs/1040381609_panda_arm2.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/95613651/95613651.yaml b/results/dummy/1053289444/1053289444.yaml
similarity index 100%
rename from results/dummy/95613651/95613651.yaml
rename to results/dummy/1053289444/1053289444.yaml
diff --git a/results/dummy/-650013114/configs/-650013114_panda_arm1.yaml b/results/dummy/1053289444/configs/1053289444_panda_arm1.yaml
similarity index 100%
rename from results/dummy/-650013114/configs/-650013114_panda_arm1.yaml
rename to results/dummy/1053289444/configs/1053289444_panda_arm1.yaml
diff --git a/results/dummy/-650013114/configs/-650013114_panda_arm2.yaml b/results/dummy/1053289444/configs/1053289444_panda_arm2.yaml
similarity index 100%
rename from results/dummy/-650013114/configs/-650013114_panda_arm2.yaml
rename to results/dummy/1053289444/configs/1053289444_panda_arm2.yaml
diff --git a/results/dummy/1053289444/launch/panda_arm1_1053289444.launch b/results/dummy/1053289444/launch/panda_arm1_1053289444.launch
new file mode 100644
index 0000000000000000000000000000000000000000..a36b61342f0e0c127bbce72b23f182f406000f10
--- /dev/null
+++ b/results/dummy/1053289444/launch/panda_arm1_1053289444.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm1" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.220002 -2.59133e-06 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
+<arg name="result" default="dummy/1053289444/1053289444.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/1053289444/configs/1053289444_panda_arm1.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/1053289444/launch/panda_arm2_1053289444.launch b/results/dummy/1053289444/launch/panda_arm2_1053289444.launch
new file mode 100644
index 0000000000000000000000000000000000000000..19b2609a31af0d931a8e012fcbeed8b911c5ac89
--- /dev/null
+++ b/results/dummy/1053289444/launch/panda_arm2_1053289444.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm2" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.220005 1.305 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
+<arg name="result" default="dummy/1053289444/1053289444.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/1053289444/configs/1053289444_panda_arm2.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/-1234778859/-1234778859.yaml b/results/dummy/110121597/110121597.yaml
similarity index 100%
rename from results/dummy/-1234778859/-1234778859.yaml
rename to results/dummy/110121597/110121597.yaml
diff --git a/results/dummy/-1234778859/configs/-1234778859_panda_arm1.yaml b/results/dummy/110121597/configs/110121597_panda_arm1.yaml
similarity index 100%
rename from results/dummy/-1234778859/configs/-1234778859_panda_arm1.yaml
rename to results/dummy/110121597/configs/110121597_panda_arm1.yaml
diff --git a/results/dummy/-1234778859/configs/-1234778859_panda_arm2.yaml b/results/dummy/110121597/configs/110121597_panda_arm2.yaml
similarity index 100%
rename from results/dummy/-1234778859/configs/-1234778859_panda_arm2.yaml
rename to results/dummy/110121597/configs/110121597_panda_arm2.yaml
diff --git a/results/dummy/110121597/launch/panda_arm1_110121597.launch b/results/dummy/110121597/launch/panda_arm1_110121597.launch
new file mode 100644
index 0000000000000000000000000000000000000000..f98069399c5c9233346c0e662fbeba5ba22274e3
--- /dev/null
+++ b/results/dummy/110121597/launch/panda_arm1_110121597.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm1" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.320002 0.0999974 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
+<arg name="result" default="dummy/110121597/110121597.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/110121597/configs/110121597_panda_arm1.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/110121597/launch/panda_arm2_110121597.launch b/results/dummy/110121597/launch/panda_arm2_110121597.launch
new file mode 100644
index 0000000000000000000000000000000000000000..77aceb2cf8a8a820d026b4ca7e8af14eb5c49143
--- /dev/null
+++ b/results/dummy/110121597/launch/panda_arm2_110121597.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm2" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.320005 1.405 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
+<arg name="result" default="dummy/110121597/110121597.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/110121597/configs/110121597_panda_arm2.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/-1775841698/-1775841698.yaml b/results/dummy/1190412551/1190412551.yaml
similarity index 89%
rename from results/dummy/-1775841698/-1775841698.yaml
rename to results/dummy/1190412551/1190412551.yaml
index 42183134cc97f311b09ebc6dce13e29a87974603..649ef1f56cbda376785178a4987cf2b4989d1568 100644
--- a/results/dummy/-1775841698/-1775841698.yaml
+++ b/results/dummy/1190412551/1190412551.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': -0.000002 , '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' : '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 }}, 
@@ -16,11 +16,11 @@
 { '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': 1.204998 , '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': 0.552498 , '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': 0.652498 , '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': -0.752502 , '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': -0.000007 , 'y': 1.857498 , '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': -0.000006 , '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 } }, 
@@ -28,6 +28,6 @@
 { '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': -0.220002, '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': -0.220005, 'y': 1.204997, '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': -0.200003, '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/2082550165/configs/2082550165_panda_arm1.yaml b/results/dummy/1190412551/configs/1190412551_panda_arm1.yaml
similarity index 100%
rename from results/dummy/2082550165/configs/2082550165_panda_arm1.yaml
rename to results/dummy/1190412551/configs/1190412551_panda_arm1.yaml
diff --git a/results/dummy/2082550165/configs/2082550165_panda_arm2.yaml b/results/dummy/1190412551/configs/1190412551_panda_arm2.yaml
similarity index 100%
rename from results/dummy/2082550165/configs/2082550165_panda_arm2.yaml
rename to results/dummy/1190412551/configs/1190412551_panda_arm2.yaml
diff --git a/results/dummy/1190412551/launch/panda_arm1_1190412551.launch b/results/dummy/1190412551/launch/panda_arm1_1190412551.launch
new file mode 100644
index 0000000000000000000000000000000000000000..e377e428a5bdaf080e704c366a3f11c226f9bd58
--- /dev/null
+++ b/results/dummy/1190412551/launch/panda_arm1_1190412551.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm1" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.220002 -0.200003 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
+<arg name="result" default="dummy/1190412551/1190412551.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/1190412551/configs/1190412551_panda_arm1.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/1190412551/launch/panda_arm2_1190412551.launch b/results/dummy/1190412551/launch/panda_arm2_1190412551.launch
new file mode 100644
index 0000000000000000000000000000000000000000..c9eef1d4f16d599fa88e5e88ce72b9dec5c2ef4d
--- /dev/null
+++ b/results/dummy/1190412551/launch/panda_arm2_1190412551.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm2" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.220006 1.4025 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
+<arg name="result" default="dummy/1190412551/1190412551.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/1190412551/configs/1190412551_panda_arm2.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/-317753156/-317753156.yaml b/results/dummy/1404468123/1404468123.yaml
similarity index 100%
rename from results/dummy/-317753156/-317753156.yaml
rename to results/dummy/1404468123/1404468123.yaml
diff --git a/results/dummy/-317753156/configs/-317753156_panda_arm1.yaml b/results/dummy/1404468123/configs/1404468123_panda_arm1.yaml
similarity index 100%
rename from results/dummy/-317753156/configs/-317753156_panda_arm1.yaml
rename to results/dummy/1404468123/configs/1404468123_panda_arm1.yaml
diff --git a/results/dummy/-317753156/configs/-317753156_panda_arm2.yaml b/results/dummy/1404468123/configs/1404468123_panda_arm2.yaml
similarity index 100%
rename from results/dummy/-317753156/configs/-317753156_panda_arm2.yaml
rename to results/dummy/1404468123/configs/1404468123_panda_arm2.yaml
diff --git a/results/dummy/1404468123/launch/panda_arm1_1404468123.launch b/results/dummy/1404468123/launch/panda_arm1_1404468123.launch
new file mode 100644
index 0000000000000000000000000000000000000000..256bc9bfb3093c1474ba5cef02e934330b6634a6
--- /dev/null
+++ b/results/dummy/1404468123/launch/panda_arm1_1404468123.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm1" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.320002 -0.100003 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
+<arg name="result" default="dummy/1404468123/1404468123.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/1404468123/configs/1404468123_panda_arm1.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/1404468123/launch/panda_arm2_1404468123.launch b/results/dummy/1404468123/launch/panda_arm2_1404468123.launch
new file mode 100644
index 0000000000000000000000000000000000000000..4647613bb746ca66de2ccd621df5720950d46473
--- /dev/null
+++ b/results/dummy/1404468123/launch/panda_arm2_1404468123.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm2" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.320006 1.405 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
+<arg name="result" default="dummy/1404468123/1404468123.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/1404468123/configs/1404468123_panda_arm2.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/493882106/493882106.yaml b/results/dummy/1977885614/1977885614.yaml
similarity index 100%
rename from results/dummy/493882106/493882106.yaml
rename to results/dummy/1977885614/1977885614.yaml
diff --git a/results/dummy/493882106/configs/493882106_panda_arm1.yaml b/results/dummy/1977885614/configs/1977885614_panda_arm1.yaml
similarity index 100%
rename from results/dummy/493882106/configs/493882106_panda_arm1.yaml
rename to results/dummy/1977885614/configs/1977885614_panda_arm1.yaml
diff --git a/results/dummy/493882106/configs/493882106_panda_arm2.yaml b/results/dummy/1977885614/configs/1977885614_panda_arm2.yaml
similarity index 100%
rename from results/dummy/493882106/configs/493882106_panda_arm2.yaml
rename to results/dummy/1977885614/configs/1977885614_panda_arm2.yaml
diff --git a/results/dummy/1977885614/launch/panda_arm1_1977885614.launch b/results/dummy/1977885614/launch/panda_arm1_1977885614.launch
new file mode 100644
index 0000000000000000000000000000000000000000..f6e35f3d4c1a47ff8db73e72b5e8e9ab5ef41c75
--- /dev/null
+++ b/results/dummy/1977885614/launch/panda_arm1_1977885614.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm1" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.320002 0.0999974 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
+<arg name="result" default="dummy/1977885614/1977885614.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/1977885614/configs/1977885614_panda_arm1.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/1977885614/launch/panda_arm2_1977885614.launch b/results/dummy/1977885614/launch/panda_arm2_1977885614.launch
new file mode 100644
index 0000000000000000000000000000000000000000..d98ad1c8038de9dce611b32cf4db921166987506
--- /dev/null
+++ b/results/dummy/1977885614/launch/panda_arm2_1977885614.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm2" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.320005 1.405 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
+<arg name="result" default="dummy/1977885614/1977885614.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/1977885614/configs/1977885614_panda_arm2.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/66805984/66805984.yaml b/results/dummy/2080544241/2080544241.yaml
similarity index 100%
rename from results/dummy/66805984/66805984.yaml
rename to results/dummy/2080544241/2080544241.yaml
diff --git a/results/dummy/66805984/configs/66805984_panda_arm1.yaml b/results/dummy/2080544241/configs/2080544241_panda_arm1.yaml
similarity index 100%
rename from results/dummy/66805984/configs/66805984_panda_arm1.yaml
rename to results/dummy/2080544241/configs/2080544241_panda_arm1.yaml
diff --git a/results/dummy/66805984/configs/66805984_panda_arm2.yaml b/results/dummy/2080544241/configs/2080544241_panda_arm2.yaml
similarity index 100%
rename from results/dummy/66805984/configs/66805984_panda_arm2.yaml
rename to results/dummy/2080544241/configs/2080544241_panda_arm2.yaml
diff --git a/results/dummy/2080544241/launch/panda_arm1_2080544241.launch b/results/dummy/2080544241/launch/panda_arm1_2080544241.launch
new file mode 100644
index 0000000000000000000000000000000000000000..1aa906648d1f0d1fc33491c61b48c742d9837f85
--- /dev/null
+++ b/results/dummy/2080544241/launch/panda_arm1_2080544241.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm1" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.420002 -2.59133e-06 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
+<arg name="result" default="dummy/2080544241/2080544241.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/2080544241/configs/2080544241_panda_arm1.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/2080544241/launch/panda_arm2_2080544241.launch b/results/dummy/2080544241/launch/panda_arm2_2080544241.launch
new file mode 100644
index 0000000000000000000000000000000000000000..41e270c4d53501ee2e071c39f4073a1c50354f0c
--- /dev/null
+++ b/results/dummy/2080544241/launch/panda_arm2_2080544241.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm2" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.420005 1.305 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
+<arg name="result" default="dummy/2080544241/2080544241.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/2080544241/configs/2080544241_panda_arm2.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/-509770749/-509770749.yaml b/results/dummy/576191206/576191206.yaml
similarity index 100%
rename from results/dummy/-509770749/-509770749.yaml
rename to results/dummy/576191206/576191206.yaml
diff --git a/results/dummy/-509770749/configs/-509770749_panda_arm1.yaml b/results/dummy/576191206/configs/576191206_panda_arm1.yaml
similarity index 100%
rename from results/dummy/-509770749/configs/-509770749_panda_arm1.yaml
rename to results/dummy/576191206/configs/576191206_panda_arm1.yaml
diff --git a/results/dummy/-509770749/configs/-509770749_panda_arm2.yaml b/results/dummy/576191206/configs/576191206_panda_arm2.yaml
similarity index 100%
rename from results/dummy/-509770749/configs/-509770749_panda_arm2.yaml
rename to results/dummy/576191206/configs/576191206_panda_arm2.yaml
diff --git a/results/dummy/576191206/launch/panda_arm1_576191206.launch b/results/dummy/576191206/launch/panda_arm1_576191206.launch
new file mode 100644
index 0000000000000000000000000000000000000000..1322bda8ac0e6e896ef291e2a680efe2b3940659
--- /dev/null
+++ b/results/dummy/576191206/launch/panda_arm1_576191206.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm1" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.220002 -0.100003 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
+<arg name="result" default="dummy/576191206/576191206.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/576191206/configs/576191206_panda_arm1.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/576191206/launch/panda_arm2_576191206.launch b/results/dummy/576191206/launch/panda_arm2_576191206.launch
new file mode 100644
index 0000000000000000000000000000000000000000..7217f928656f03ad52f73f90996e3f544e3fdfe6
--- /dev/null
+++ b/results/dummy/576191206/launch/panda_arm2_576191206.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm2" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.220005 1.205 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
+<arg name="result" default="dummy/576191206/576191206.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/576191206/configs/576191206_panda_arm2.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/-650013114/-650013114.yaml b/results/dummy/96902036/96902036.yaml
similarity index 100%
rename from results/dummy/-650013114/-650013114.yaml
rename to results/dummy/96902036/96902036.yaml
diff --git a/results/dummy/95613651/configs/95613651_panda_arm1.yaml b/results/dummy/96902036/configs/96902036_panda_arm1.yaml
similarity index 100%
rename from results/dummy/95613651/configs/95613651_panda_arm1.yaml
rename to results/dummy/96902036/configs/96902036_panda_arm1.yaml
diff --git a/results/dummy/95613651/configs/95613651_panda_arm2.yaml b/results/dummy/96902036/configs/96902036_panda_arm2.yaml
similarity index 100%
rename from results/dummy/95613651/configs/95613651_panda_arm2.yaml
rename to results/dummy/96902036/configs/96902036_panda_arm2.yaml
diff --git a/results/dummy/96902036/launch/panda_arm1_96902036.launch b/results/dummy/96902036/launch/panda_arm1_96902036.launch
new file mode 100644
index 0000000000000000000000000000000000000000..f15c3c2aa8a2712c29c4ad90aa0f30bf17793339
--- /dev/null
+++ b/results/dummy/96902036/launch/panda_arm1_96902036.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm1" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.220002 -2.59133e-06 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
+<arg name="result" default="dummy/96902036/96902036.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/96902036/configs/96902036_panda_arm1.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/results/dummy/96902036/launch/panda_arm2_96902036.launch b/results/dummy/96902036/launch/panda_arm2_96902036.launch
new file mode 100644
index 0000000000000000000000000000000000000000..cd0a495514aba2d44db424222521d7ac9f662013
--- /dev/null
+++ b/results/dummy/96902036/launch/panda_arm2_96902036.launch
@@ -0,0 +1,58 @@
+<launch>
+<arg name="referenceRobot" default="panda_arm2" />
+<arg name="autoMapping" default="true" />
+<arg name="referenceXYZ" default="-0.220005 1.305 0.8875"/>
+<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
+<arg name="result" default="dummy/96902036/96902036.yaml" />
+<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
+<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+<arg name="pipeline" default="ompl"/>
+<arg name="db" default="false"/>
+<arg name="db_path" default="$(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="$(find multi_cell_builder)/results/dummy/96902036/configs/96902036_panda_arm2.yaml"/>
+</node>
+<arg name="planner" default="ompl" />
+<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+<arg name="pipeline" value="$(arg planner)" />
+</include>
+</launch>
diff --git a/src/mediator/base_calculation_mediator.cpp b/src/mediator/base_calculation_mediator.cpp
index a8f79de7500a9cf97df5998eddd26b466d85edae..36b2b3aff9cfadea91e97f7543d371f13b74473b 100644
--- a/src/mediator/base_calculation_mediator.cpp
+++ b/src/mediator/base_calculation_mediator.cpp
@@ -600,6 +600,7 @@ void BaseCalculationMediator::writeFile(std::vector<protobuf_entry>& wc_solution
             float rot_z = ceti->tf().getRotation().getZ();
             float rot_w = ceti->tf().getRotation().getW();
 
+            // initial stardconfig
             ss << "{ 'id' : 'table" << match[1] << "_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 }}, \n";
             ss << "{ 'id' : 'table" << match[1] << "_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 }},\n";
             ss << "{ 'id' : 'table" << match[1] << "_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 }}, \n";
@@ -609,7 +610,8 @@ void BaseCalculationMediator::writeFile(std::vector<protobuf_entry>& wc_solution
             ss << "{ 'id' : 'table" << match[1] << "_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 }}, \n";
             ss << "{ 'id' : 'table" << match[1] << "_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 }}, \n";
             ss << "{ 'id' : 'table" << match[1] << "_table_top', 'pos': { 'x': " << std::to_string(pos_x) << " , 'y': "<< std::to_string(pos_y) << " , 'z': "<< std::to_string(pos_z) << " },'size': { 'length': "<< std::to_string(size_x) << " ,'width': "<< std::to_string(size_y) << " ,'height': "<< std::to_string(size_z) << " },'orientation': { 'x': " << std::to_string(rot_x) << " , 'y': " << std::to_string(rot_y) << " , 'z': " << std::to_string(rot_z) << " , 'w': " << std::to_string(rot_w) << " },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': " << std::to_string(r) << " , 'p': " << std::to_string(p) << " , 'y': " << std::to_string(y) << " } },\n";
-
+            
+            // config
             std::stringstream config;
             config << "mapspace: {'dim': [";
             config << size_x/2 << ", ";
@@ -621,9 +623,7 @@ void BaseCalculationMediator::writeFile(std::vector<protobuf_entry>& wc_solution
             config << "'rot': [";
             config << r << ", " << p << ", " << y <<"], ";
             config << "'verbose': false }\n";
-
             config << "voxel_size: 0.02 \n";
-
             config << "voxel_space: {'dim': [";
             config << (size_x + 0.1f)/2 << ", ";
             config << (size_y + 0.1f)/2 << ", 0.2], ";
@@ -633,7 +633,6 @@ void BaseCalculationMediator::writeFile(std::vector<protobuf_entry>& wc_solution
             config << (pos_z + size_z/2.0f + 0.2f/2.0f) << "], ";
             config << "'rot': [";
             config << r << ", " << p << ", " << y <<"]}\n";
-
             config << "voxel_verbose_level: 0\n";
             config << "translation_rate: 0.03\n";
             config << "rotation_rate: 45.0\n";
@@ -683,6 +682,76 @@ void BaseCalculationMediator::writeFile(std::vector<protobuf_entry>& wc_solution
                 root_ss << "{ 'id': 'arm" << match[1] << "','type': 'ARM','pos': { 'x': " << std::to_string(arm_x) << ", 'y': " << std::to_string(arm_y) << ", 'z': 0.89 },'size': { },'orientation': { 'x': " << std::to_string(arm_qx) <<", 'y': " << std::to_string(arm_qy) << ", 'z': " << std::to_string(arm_qz) << ", 'w': " << std::to_string(arm_qw) << " },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }";
             }
             
+            //launch
+            std::stringstream launch;
+            launch << "<launch>\n";
+            launch << "<arg name=\"referenceRobot\" default=\""<< wc_solution[c].name_ << "\" />\n";
+            launch << "<arg name=\"autoMapping\" default=\"true\" />\n";
+            launch << "<arg name=\"referenceXYZ\" default=\""<< arm_x <<" "<< arm_y << " " << arm_z <<"\"/>\n";
+            launch << "<arg name=\"referenceRPY\" default=\"" << r << " " << p << " " << y << "\"/>\n";
+            launch << "<arg name=\"result\" default=\"" << filename_ <<"/" << resultFile << "/" << resultFile <<".yaml\" />\n";
+            launch << "<rosparam command=\"load\" file=\"$(find multi_cell_builder)/results/$(arg result)\"/>\n";
+            launch << "<rosparam param=\"referenceRobot\" subst_value=\"True\"> $(arg referenceRobot)</rosparam>\n";
+            launch << "<rosparam param=\"autoMapping\" subst_value=\"True\"> $(arg autoMapping)</rosparam>\n";
+            launch << "<arg name=\"pipeline\" default=\"ompl\"/>\n";
+            launch << "<arg name=\"db\" default=\"false\"/>\n";
+            launch << "<arg name=\"db_path\" default=\"$(find panda_moveit_config)/default_warehouse_mongo_db\"/>\n";
+            launch << "<arg name=\"debug\" default=\"false\" />\n";
+            launch << "<arg name=\"load_robot_description\" default=\"true\"/>\n";
+            launch << "<arg name=\"moveit_controller_manager\" default=\"fake\"/>\n";
+            launch << "<arg name=\"fake_execution_type\" default=\"interpolate\"/>\n";
+            launch << "<arg name=\"use_gui\" default=\"false\"/>\n";
+            launch << "<arg name=\"use_rviz\" default=\"true\"/>\n";
+            launch << "<node pkg=\"tf2_ros\" type=\"static_transform_publisher\" name=\"virtual_joint_broadcaster_0\" args=\"0 0 0 0 0 0 world panda_link0\"/>\n";
+            launch << "<group if=\"$(eval arg('moveit_controller_manager') == 'fake')\">\n";
+            launch << "<node name=\"joint_state_publisher\" pkg=\"joint_state_publisher\" type=\"joint_state_publisher\" unless=\"$(arg use_gui)\">\n";
+            launch << "<rosparam param=\"source_list\">[move_group/fake_controller_joint_states]</rosparam>\n";
+            launch << "</node>\n";
+            launch << "<node name=\"joint_state_publisher\" pkg=\"joint_state_publisher_gui\" type=\"joint_state_publisher_gui\" if=\"$(arg use_gui)\">\n";
+            launch << "<rosparam param=\"source_list\">[move_group/fake_controller_joint_states]</rosparam>\n";
+            launch << "</node>\n";
+            launch << "<node name=\"robot_state_publisher\" pkg=\"robot_state_publisher\" type=\"robot_state_publisher\" respawn=\"true\" output=\"screen\"/>\n";
+            launch << "</group>\n";
+            launch << "<include file=\"$(find panda_moveit_config)/launch/move_group.launch\">\n";
+            launch << "<arg name=\"allow_trajectory_execution\" value=\"true\"/>\n";
+            launch << "<arg name=\"moveit_controller_manager\" value=\"$(arg moveit_controller_manager)\"/>\n";
+            launch << "<arg name=\"fake_execution_type\" value=\"$(arg fake_execution_type)\"/>\n";
+            launch << "<arg name=\"info\" value=\"true\"/>\n";
+            launch << "<arg name=\"debug\" value=\"$(arg debug)\"/>\n";
+            launch << "<arg name=\"pipeline\" value=\"$(arg pipeline)\"/>\n";
+            launch << "<arg name=\"load_robot_description\" value=\"$(arg load_robot_description)\"/>\n";
+            launch << "<arg name=\"referenceXYZ\" value=\"$(arg referenceXYZ)\"/>\n";
+            launch << "<arg name=\"referenceRPY\" value=\"$(arg referenceRPY)\"/>\n";
+            launch << "</include>\n";
+
+            launch << "<include file=\"$(find panda_moveit_config)/launch/default_warehouse_db.launch\" if=\"$(arg db)\">\n";
+            launch << "<arg name=\"moveit_warehouse_database_path\" value=\"$(arg db_path)\"/>\n";
+            launch << "</include>\n";
+
+            launch << "<node name=\"$(anon rviz)\" pkg=\"rviz\" type=\"rviz\" respawn=\"false\" args=\"-d $(find moveit_grasps)/launch/rviz/grasps.rviz\" output=\"screen\">\n";
+            launch << "<rosparam command=\"load\" file=\"$(find panda_moveit_config)/config/kinematics.yaml\"/>\n";
+            launch << "</node>\n";
+
+            launch << "<node name=\"config_routine\"  pkg=\"multi_cell_builder\" type=\"config_routine\" output=\"screen\">\n";
+            launch << "<param name=\"gripper\" value=\"two_finger\"/>\n";
+            launch << "<param name=\"ee_group_name\" value=\"hand\"/>\n";
+            launch << "<param name=\"planning_group_name\" value=\"panda_arm_hand\" />\n";
+            launch << "<rosparam command=\"load\" file=\"$(find gb_grasp)/config_robot/panda_grasp_data.yaml\"/>\n";
+            launch << "<rosparam command=\"load\" file=\"$(find gb_grasp)/config/moveit_grasps_config.yaml\"/>\n";
+            launch << "<rosparam command=\"load\" file=\"$(find multi_cell_builder)/results/" << filename_ << "/" << resultFile << "/configs/" << resultFile << "_" << wc_solution[c].name_ << ".yaml\"/>\n";
+            launch << "</node>\n";
+
+            launch << "<arg name=\"planner\" default=\"ompl\" />\n";
+            launch << "<include ns=\"moveit_grasps_demo\" file=\"$(find panda_moveit_config)/launch/planning_pipeline.launch.xml\">\n";
+            launch << "<arg name=\"pipeline\" value=\"$(arg planner)\" />\n";
+            launch << "</include>\n";
+            launch << "</launch>\n";
+
+            std::ofstream l(ros::package::getPath("multi_cell_builder") + "/results/"+ filename_ + "/" + resultFile + "/launch/" + wc_solution[c].name_+ "_" + resultFile + ".launch");
+            l << launch.str();
+            l.close();
+
+            
         } catch (std::out_of_range& oor) {
         }
     }