diff --git a/config/config_scene_ceti-table.json b/config/config_scene_ceti-table.json
new file mode 100644
index 0000000000000000000000000000000000000000..597f6fa8724b33d5dc9fc70bcc2b55bbb17b432b
--- /dev/null
+++ b/config/config_scene_ceti-table.json
@@ -0,0 +1,389 @@
+{
+ "objects": [
+ {
+ "id": "wheel_1",
+ "pos": {
+ "x": 0.28,
+ "y": 0.28,
+ "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": "wheel_2",
+ "pos": {
+ "x": -0.28,
+ "y": -0.28,
+ "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": "wheel_3",
+ "pos": {
+ "x": -0.28,
+ "y": 0.28,
+ "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": "wheel_4",
+ "pos": {
+ "x": 0.28,
+ "y": -0.28,
+ "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": "table_body",
+ "pos": {
+ "z": 0.5
+ },
+ "size": {
+ "length": 0.69,
+ "width": 0.69,
+ "height": 0.76
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "table-top",
+ "pos": {
+ "z": 0.885
+ },
+ "size": {
+ "length": 0.8,
+ "width": 0.8,
+ "height": 0.01
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "left_panel",
+ "pos": {
+ "z": 0.885,
+ "y": -0.6525
+ },
+ "size": {
+ "length": 0.7,
+ "width": 0.5,
+ "height": 0.01
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "right_panel",
+ "pos": {
+ "z": 0.885,
+ "y": 0.6525
+ },
+ "size": {
+ "length": 0.7,
+ "width": 0.5,
+ "height": 0.01
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "ffront_panel",
+ "pos": {
+ "z": 0.885,
+ "x": 0.6525
+ },
+ "size": {
+ "length": 0.5,
+ "width": 0.7,
+ "height": 0.01
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "binBlue",
+ "type": "BIN",
+ "pos": {
+ "x": -0.255,
+ "y": 0.5475,
+ "z": 0.9675
+ },
+ "size": {
+ "length": 0.19,
+ "width": 0.285,
+ "height": 0.155
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "b": 1
+ }
+ },
+ {
+ "id": "binRed",
+ "type": "BIN",
+ "pos": {
+ "x": -0.055,
+ "y": 0.5475,
+ "z": 0.9675
+ },
+ "size": {
+ "length": 0.19,
+ "width": 0.285,
+ "height": 0.155
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1
+ }
+ },
+ {
+ "id": "binGreen",
+ "type": "BIN",
+ "pos": {
+ "x": 0.145,
+ "y": 0.5475,
+ "z": 0.9675
+ },
+ "size": {
+ "length": 0.19,
+ "width": 0.285,
+ "height": 0.155
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1
+ }
+ },
+ {
+ "id": "object4x2x1.5",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": -0.3,
+ "z": 0.9067
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0636,
+ "height": 0.0334
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {}
+ },
+ {
+ "id": "object4x2x2.0",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": -0.2,
+ "z": 0.9115
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0636,
+ "height": 0.043
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {}
+ },
+ {
+ "id": "object4x2x2.5",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": -0.1,
+ "z": 0.9163
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0636,
+ "height": 0.0526
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {}
+ },
+ {
+ "id": "object4x2x3.0",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": 0,
+ "z": 0.9211
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0636,
+ "height": 0.0622
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {}
+ },
+ {
+ "id": "object4x2x3.5",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": 0.1,
+ "z": 0.9259
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0636,
+ "height": 0.0718
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {}
+ },
+ {
+ "id": "object4x2x4.0",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": 0.2,
+ "z": 0.9307
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0636,
+ "height": 0.0814
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {}
+ },
+ {
+ "id": "object4x2x4.5",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": 0.3,
+ "z": 0.9355
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0636,
+ "height": 0.091
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {}
+ },
+ {
+ "id": "arm",
+ "type": "ARM",
+ "pos": {
+ "z": 0.89,
+ "x": -0.22
+ },
+ "size": {},
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1,
+ "g": 1,
+ "b": 1
+ }
+ }
+ ]
+}
diff --git a/config/config_scene_ceti-table.yaml b/config/config_scene_ceti-table.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..99d579a4abefcfe6452a26292d03eb5aeacb566a
--- /dev/null
+++ b/config/config_scene_ceti-table.yaml
@@ -0,0 +1,44 @@
+# create json file using
+# yq eval -o=json config_scene_ceti-table.yaml > config_scene_ceti-table.json
+{ 'objects': [
+ # table
+ # height: 12 cm wheels, 76 cm body, 1 cm table-top = 89 cm total
+ # wheels width/depth/height 12*12*12
+ # body width/depth/height 69*69*76
+ # table-top width/depth/height 80*80*1
+ # panels are 50*70, with 0.5 cm distance to the table-top
+ # height of both is 12 + 76 + .5 = 88.5
+ # their centre is at 40 + 0.25 + 25 = 65.25
+ { 'id': 'wheel_1','pos': { 'x': 0.28,'y': 0.28,'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': 'wheel_2','pos': { 'x': -0.28,'y': -0.28,'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': 'wheel_3','pos': { 'x': -0.28,'y': 0.28,'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': 'wheel_4','pos': { 'x': 0.28,'y': -0.28,'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': 'table_body','pos': { 'z': 0.50 },'size': { 'length': .69,'width': 0.69,'height': 0.76 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'table-top', 'pos': { 'z': 0.885 },'size': { 'length': 0.8,'width': 0.8,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'left_panel', 'pos': { 'z': 0.885, 'y': -0.6525 },'size': { 'length': 0.7,'width': 0.5,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'right_panel', 'pos': { 'z': 0.885, 'y': 0.6525 },'size': { 'length': 0.7,'width': 0.5,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'ffront_panel', 'pos': { 'z': 0.885, 'x': 0.6525 },'size': { 'length': 0.5,'width': 0.7,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+
+ # bins width/depth/height 28.5*19*15.5
+ # their height is 89 + 7.75 = 0.9675 m
+ # the width is 31.8 or 63.6
+ # if they stand on a panel edge, they stand at 40 + 0.5 + 14.25 = 54.75
+ # their x location is N*19 + 9.5 - 35 = N*20 - 25.5 = -25.5 and -5.5 and 14.5 if they have 1 cm distance
+ { 'id': 'binBlue', 'type': 'BIN','pos': { 'x': -0.255,'y': 0.5475,'z': 0.9675 },'size': { 'length': 0.19,'width': 0.285,'height': 0.155 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+ { 'id': 'binRed', 'type': 'BIN','pos': { 'x': -0.055,'y': 0.5475,'z': 0.9675 },'size': { 'length': 0.19,'width': 0.285,'height': 0.155 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+ { 'id': 'binGreen','type': 'BIN','pos': { 'x': 0.145,'y': 0.5475,'z': 0.9675 },'size': { 'length': 0.19,'width': 0.285,'height': 0.155 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+
+ # heights of objects (including pins):
+ # formula: half-height * 9.6 + 4.6
+ # formula (python)
+ # for i in range(3,10): print("{ 'id': 'object4x2x%.1f','type': 'BOX','pos': { 'x': 0.3,'y': %f,'z': %f },'size': { 'length': .0318, 'width': .0636,'height': %f },'orientation': { 'w': 1 },'color': {} }," % (i/2, (i-6)*.1, (i*48+23+8900)/10000, (i*96+46)/10000));
+ { 'id': 'object4x2x1.5','type': 'BOX','pos': { 'x': 0.3,'y': -0.300000,'z': 0.906700 },'size': { 'length': .0318, 'width': .0636,'height': 0.033400 },'orientation': { 'w': 1 },'color': {} },
+ { 'id': 'object4x2x2.0','type': 'BOX','pos': { 'x': 0.3,'y': -0.200000,'z': 0.911500 },'size': { 'length': .0318, 'width': .0636,'height': 0.043000 },'orientation': { 'w': 1 },'color': {} },
+ { 'id': 'object4x2x2.5','type': 'BOX','pos': { 'x': 0.3,'y': -0.100000,'z': 0.916300 },'size': { 'length': .0318, 'width': .0636,'height': 0.052600 },'orientation': { 'w': 1 },'color': {} },
+ { 'id': 'object4x2x3.0','type': 'BOX','pos': { 'x': 0.3,'y': 0.000000,'z': 0.921100 },'size': { 'length': .0318, 'width': .0636,'height': 0.062200 },'orientation': { 'w': 1 },'color': {} },
+ { 'id': 'object4x2x3.5','type': 'BOX','pos': { 'x': 0.3,'y': 0.100000,'z': 0.925900 },'size': { 'length': .0318, 'width': .0636,'height': 0.071800 },'orientation': { 'w': 1 },'color': {} },
+ { 'id': 'object4x2x4.0','type': 'BOX','pos': { 'x': 0.3,'y': 0.200000,'z': 0.930700 },'size': { 'length': .0318, 'width': .0636,'height': 0.081400 },'orientation': { 'w': 1 },'color': {} },
+ { 'id': 'object4x2x4.5','type': 'BOX','pos': { 'x': 0.3,'y': 0.300000,'z': 0.935500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': {} },
+
+ { 'id': 'arm','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.22 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
+] }
diff --git a/launch/ceti-table_robot_main.launch b/launch/ceti-table_robot_main.launch
new file mode 100644
index 0000000000000000000000000000000000000000..3c974b4e9e22531fe5c62a0ae691f7050fb25d7f
--- /dev/null
+++ b/launch/ceti-table_robot_main.launch
@@ -0,0 +1,19 @@
+<launch>
+
+ <arg name="robot_ip" default="172.31.1.13" />
+ <arg name="load_gripper" default="true" />
+ <arg name="connection_address" default="tcp://*:6576" />
+ <arg name="client_controllers" default="[]" />
+
+ <include file="$(find ccf)/launch/robot_setup.launch" >
+ <arg name="robot_ip" value="$(arg robot_ip)" />
+ <arg name="load_gripper" value="$(arg load_gripper)"/>
+ </include>
+
+ <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance" output="screen" >
+ <param name="connection_address" type="string" value="$(arg connection_address)" />
+ <param name="client_controllers" type="yaml" value="$(arg client_controllers)" />
+ <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json" />
+ </node>
+
+</launch>
diff --git a/launch/ceti-table_robot_main_dummy_selector.launch b/launch/ceti-table_robot_main_dummy_selector.launch
new file mode 100644
index 0000000000000000000000000000000000000000..ae399802695a8b40d4fb8daa1ae7e7c88e65c2da
--- /dev/null
+++ b/launch/ceti-table_robot_main_dummy_selector.launch
@@ -0,0 +1,4 @@
+<launch>
+ <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen"/>
+ <include file="$(find ccf_immersive_sorting)/launch/ceti-table_robot_main.launch" />
+</launch>
diff --git a/launch/ceti-table_simulated_main.launch b/launch/ceti-table_simulated_main.launch
new file mode 100644
index 0000000000000000000000000000000000000000..d4607d6d126f0c0fa62d29d3fe4e7a5aabede939
--- /dev/null
+++ b/launch/ceti-table_simulated_main.launch
@@ -0,0 +1,14 @@
+<launch>
+
+ <arg name="connection_address" default="tcp://*:6576" />
+ <arg name="client_controllers" default="[]" />
+
+ <include file="$(find ccf)/launch/simulation_setup.launch"/>
+
+ <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance" output="screen" >
+ <param name="connection_address" type="string" value="$(arg connection_address)" />
+ <param name="client_controllers" type="yaml" value="$(arg client_controllers)" />
+ <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json" />
+ </node>
+
+</launch>
diff --git a/launch/ceti-table_simulated_main_dummy_selector.launch b/launch/ceti-table_simulated_main_dummy_selector.launch
new file mode 100644
index 0000000000000000000000000000000000000000..6ce6439b0ecaef20e16328ce9c1c8d8e6a7c861a
--- /dev/null
+++ b/launch/ceti-table_simulated_main_dummy_selector.launch
@@ -0,0 +1,4 @@
+<launch>
+ <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen"/>
+ <include file="$(find ccf_immersive_sorting)/launch/ceti-table_simulated_main.launch" />
+</launch>