diff --git a/src/moveit_sorting_controller.cpp b/src/moveit_sorting_controller.cpp
index 826b4f6b303248ed98bff84251b38b8a45a9a8f4..aed507d1b7a8362812a5f547f04f15f7779ec12d 100644
--- a/src/moveit_sorting_controller.cpp
+++ b/src/moveit_sorting_controller.cpp
@@ -58,8 +58,20 @@ int main(int argc, char** argv)
 
   ros::WallDuration(5).sleep();  // wait 5 secs to init scene (to give moveit time to load)
 
-  controller.loadScene(getPrivateParameter<std::string>("scene", ros::package::getPath("ccf_immersive_sorting") +
-      "/config/config_scene_ceti-table-1-empty.json"));
+  controller.loadScene(getPrivateParameter<std::string>("scene", ros::package::getPath("ccf_immersive_sorting") + "/con"
+                                                                                                                  "fig/"
+                                                                                                                  "conf"
+                                                                                                                  "ig_"
+                                                                                                                  "scen"
+                                                                                                                  "e_"
+                                                                                                                  "ceti"
+                                                                                                                  "-tab"
+                                                                                                                  "le-"
+                                                                                                                  "1-"
+                                                                                                                  "empt"
+                                                                                                                  "y."
+                                                                                                                  "jso"
+                                                                                                                  "n"));
 
   // only add the scene observer after the base scene has been loaded
   controller.addCallback(scene_observer_topic, [&controller](auto msg) {
@@ -78,8 +90,10 @@ int main(int argc, char** argv)
   auto pick_place_callback = [&controller](const Command& command) {
     if (command.has_pickandplace())
     {
-      ROS_INFO_STREAM("[COMMAND] for robot " << pick_place.idrobot() << ": Pick object " << pick_place.idpick() << " and place it at " << pick_place.idplace());
-      Object* pick_object = controller.resolveObject(pick_place.idpick());
+      ROS_INFO_STREAM("[COMMAND] for robot " << command.pickandplace().idrobot() << ": Pick object "
+                                             << command.pickandplace().idpick() << " and place it at "
+                                             << command.pickandplace().idplace());
+      Object* pick_object = controller.resolveObject(command.pickandplace().idpick());
       if (!pick_object)
       {
         ROS_ERROR_STREAM("[COMMAND] FAILED! Selected unknown pick object '" << command.pickandplace().idpick() << "'");
@@ -88,7 +102,8 @@ int main(int argc, char** argv)
       Object* place_object = controller.resolveObject(command.pickandplace().idplace());
       if (!place_object)
       {
-        ROS_ERROR_STREAM("[COMMAND] FAILED! Selected unknown place object '" << command.pickandplace().idplace() << "'");
+        ROS_ERROR_STREAM("[COMMAND] FAILED! Selected unknown place object '" << command.pickandplace().idplace()
+                                                                             << "'");
         return;
       }
       if (pick_object->type() != Object::BOX)
@@ -141,8 +156,9 @@ int main(int argc, char** argv)
     }
     else if (command.has_evacuate())
     {
-      ROS_INFO_STREAM("[COMMAND] for robot " << command.evacuate().idrobot() << ": Evacuate " << command.evacuate().idrobot() << " from zone "
-                                            << command.evacuate().idcollaborationzone());
+      ROS_INFO_STREAM("[COMMAND] for robot " << command.evacuate().idrobot() << ": Evacuate "
+                                             << command.evacuate().idrobot() << " from zone "
+                                             << command.evacuate().idcollaborationzone());
       if (command.evacuate().idrobot() != controller.getRobotName())
       {
         ROS_DEBUG_STREAM("[COMMAND] IGNORED! Ignoring evacuate command for robot "
@@ -194,10 +210,10 @@ int main(int argc, char** argv)
     }
     else if (command.has_pick())
     {
-
       Object* robot = controller.resolveObject(command.pick().idrobot());
       Object* object = controller.resolveObject(command.pick().idpick());
-      ROS_INFO_STREAM("[COMMAND] for robot " << command.pick().idrobot() << ": Pick " << object->id() << " using robot " << robot->id());
+      ROS_INFO_STREAM("[COMMAND] for robot " << command.pick().idrobot() << ": Pick " << object->id() << " using robot "
+                                             << robot->id());
       if (!robot)
       {
         ROS_ERROR_STREAM("[COMMAND] FAILED! Unable to pick using unknown robot '" << command.pick().idrobot() << "'.");
@@ -214,25 +230,28 @@ int main(int argc, char** argv)
     {
       Object* robot = controller.resolveObject(command.place().idrobot());
       Object* object = controller.resolveObject(command.place().idplace());
-      ROS_INFO_STREAM("[COMMAND] for robot " << command.place().idrobot() << ": Place object at " << object->id() << " using robot " << robot->id());
+      ROS_INFO_STREAM("[COMMAND] for robot " << command.place().idrobot() << ": Place object at " << object->id()
+                                             << " using robot " << robot->id());
       if (!robot)
       {
-        ROS_ERROR_STREAM("[COMMAND] FAILED! Unable to place using unknown robot '" << command.place().idrobot() << "'.");
+        ROS_ERROR_STREAM("[COMMAND] FAILED! Unable to place using unknown robot '" << command.place().idrobot()
+                                                                                   << "'.");
         return;
       }
       if (!object)
       {
-        ROS_ERROR_STREAM("[COMMAND] FAILED! Unable to place at unknown location '" << command.place().idplace() << "'.");
+        ROS_ERROR_STREAM("[COMMAND] FAILED! Unable to place at unknown location '" << command.place().idplace()
+                                                                                   << "'.");
         return;
       }
       controller.place(command.place().idrobot(), command.place().idplace(), false);
     }
     else if (command.has_drop())
     {
-
       Object* robot = controller.resolveObject(command.drop().idrobot());
       Object* bin = controller.resolveObject(command.drop().idbin());
-      ROS_INFO_STREAM("[COMMAND] for robot " << command.drop().idrobot() << ":  drop object into bin " << bin->id() << " using robot " << robot->id());
+      ROS_INFO_STREAM("[COMMAND] for robot " << command.drop().idrobot() << ":  drop object into bin " << bin->id()
+                                             << " using robot " << robot->id());
       if (!robot)
       {
         ROS_ERROR_STREAM("[COMMAND] FAILED! Unable to drop using unknown robot '" << command.drop().idrobot() << "'.");