diff --git a/launch/cell-controllers/dummy-cell_ads-table.launch b/launch/cell-controllers/dummy-cell_ads-table.launch
index 6a4409d37995c061f3be1a1130ef49e89a1e91ab..d703ff8f68e034264858b5c971dfd5585e772710 100644
--- a/launch/cell-controllers/dummy-cell_ads-table.launch
+++ b/launch/cell-controllers/dummy-cell_ads-table.launch
@@ -3,6 +3,7 @@
     <arg name="connection_address" default="tcp://*:6576"/>
 
     <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ads_cell" output="screen">
+        <param name="arm" type="string" value="arm"/>
         <param name="connection_address" type="string" value="$(arg connection_address)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json"/>
     </node>
diff --git a/launch/cell-controllers/dummy-cell_ceti-table-1.launch b/launch/cell-controllers/dummy-cell_ceti-table-1.launch
index ec02acbbb260c9787181419eacfb75d18cd8ee89..ae1ac615dc5698fb680e7f38f91914123e99663d 100644
--- a/launch/cell-controllers/dummy-cell_ceti-table-1.launch
+++ b/launch/cell-controllers/dummy-cell_ceti-table-1.launch
@@ -3,6 +3,7 @@
     <arg name="connection_address" default="tcp://*:6576"/>
 
     <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ceti_cell_1" output="screen">
+        <param name="arm" type="string" value="arm"/>
         <param name="connection_address" type="string" value="$(arg connection_address)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1.json"/>
     </node>
diff --git a/launch/cell-controllers/dummy-cell_ceti-table-2.launch b/launch/cell-controllers/dummy-cell_ceti-table-2.launch
index d4e0fdfb0809132ae7066129ebedbf20fbbe507b..6052feda42df7e3a3315b568eeaa7cd9de6c4fbf 100644
--- a/launch/cell-controllers/dummy-cell_ceti-table-2.launch
+++ b/launch/cell-controllers/dummy-cell_ceti-table-2.launch
@@ -3,6 +3,7 @@
     <arg name="connection_address" default="tcp://*:6576"/>
 
     <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ceti_cell_2" output="screen">
+        <param name="arm" type="string" value="arm"/>
         <param name="connection_address" type="string" value="$(arg connection_address)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-2.json"/>
     </node>
diff --git a/launch/cell-controllers/dummy-cell_st-table.launch b/launch/cell-controllers/dummy-cell_st-table.launch
index 28e1aadfad4cb24bbb658bb13e001a8811e0b1db..984ecb5de15ae489cc5fa5aa6e12a401aa9e56c8 100644
--- a/launch/cell-controllers/dummy-cell_st-table.launch
+++ b/launch/cell-controllers/dummy-cell_st-table.launch
@@ -3,6 +3,7 @@
     <arg name="connection_address" default="tcp://*:6576"/>
 
     <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="st_cell" output="screen">
+        <param name="arm" type="string" value="arm"/>
         <param name="connection_address" type="string" value="$(arg connection_address)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_st-table.json"/>
     </node>
diff --git a/launch/cell-controllers/robot-cell_ads-table.launch b/launch/cell-controllers/robot-cell_ads-table.launch
index d8d42f7c893fa98c186ede961111252b8c9b7bb6..7fe15e13d45fb1c280eac0ef2a058a512f913a05 100644
--- a/launch/cell-controllers/robot-cell_ads-table.launch
+++ b/launch/cell-controllers/robot-cell_ads-table.launch
@@ -12,6 +12,7 @@
     </include>
 
     <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ads_cell" output="screen">
+        <param name="arm" type="string" value="arm"/>
         <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json"/>
     </node>
diff --git a/launch/cell-controllers/robot-cell_ceti-table-1.launch b/launch/cell-controllers/robot-cell_ceti-table-1.launch
index 3f514f71b837b690ca262f95c986e2b06d04d5ec..6687656e9f50a55f8b33641737c397758e9148d9 100644
--- a/launch/cell-controllers/robot-cell_ceti-table-1.launch
+++ b/launch/cell-controllers/robot-cell_ceti-table-1.launch
@@ -13,6 +13,7 @@
     </include>
 
     <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_1" output="screen">
+        <param name="arm" type="string" value="arm"/>
         <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1.json"/>
     </node>
diff --git a/launch/cell-controllers/robot-cell_ceti-table-2.launch b/launch/cell-controllers/robot-cell_ceti-table-2.launch
index 346e9873fd227201a716c6063e0d4fe57e4537d2..a03c19c8c8af37fc4417ffecaac9608a1eec15a1 100644
--- a/launch/cell-controllers/robot-cell_ceti-table-2.launch
+++ b/launch/cell-controllers/robot-cell_ceti-table-2.launch
@@ -13,6 +13,7 @@
     </include>
 
     <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_2" output="screen">
+        <param name="arm" type="string" value="arm"/>
         <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-2.json"/>
     </node>
diff --git a/launch/cell-controllers/robot-cell_st-table.launch b/launch/cell-controllers/robot-cell_st-table.launch
index aa450155546375304e74a2d1e0dc24a19110d3c0..04c9ded4b56136f455ad506476d63b08fb459107 100644
--- a/launch/cell-controllers/robot-cell_st-table.launch
+++ b/launch/cell-controllers/robot-cell_st-table.launch
@@ -12,6 +12,7 @@
     </include>
 
     <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="st_cell" output="screen">
+        <param name="arm" type="string" value="arm"/>
         <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_st-table.json"/>
     </node>