diff --git a/config/config_scene_ceti-table.yaml b/config/config_scene_ceti-table.yaml
index db874268bdc2e08c2156941113cbaad0a131779e..c90413892beb697ec6c4378796ca43c7c7b312a2 100644
--- a/config/config_scene_ceti-table.yaml
+++ b/config/config_scene_ceti-table.yaml
@@ -33,14 +33,13 @@
   { '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': { 'g': 1 } },
 
-  { 'id': 'object4x2x5.0_Y','type': 'BOX','pos': { 'x': 0.20,'y': 0.05,'z': 0.940300 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'r': 1, 'g': 1 } },
+  { 'id': 'bigYellow','type': 'BOX','pos': { 'x': 0.20,'y': 0.05,'z': 0.940300 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'r': 1, 'g': 1 } },
+  { 'id': 'bigGreen','type': 'BOX','pos': { 'x': 0.30,'y': 0.30,'z': 0.935500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+  { 'id': 'bigBlue','type': 'BOX','pos': { 'x': 0.10,'y': -0.25,'z': 0.935500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
 
-  { 'id': 'object4x2x4.5_G','type': 'BOX','pos': { 'x': 0.30,'y': 0.30,'z': 0.935500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
-  { 'id': 'object4x2x4.5_B','type': 'BOX','pos': { 'x': 0.10,'y': -0.25,'z': 0.935500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
-
-  { 'id': 'object2x2x4.0_b','type': 'BOX','pos': { 'x': 0.10,'y': 0.20,'z': 0.930700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
-  { 'id': 'object2x2x4.0_y','type': 'BOX','pos': { 'x': 0.30,'y': -0.20,'z': 0.930700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': 1, 'g': 1 } },
-  { 'id': 'object2x2x4.0_r','type': 'BOX','pos': { 'x': 0.15,'y': -0.15,'z': 0.930700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+  { 'id': 'smallBlue','type': 'BOX','pos': { 'x': 0.10,'y': 0.20,'z': 0.930700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+  { 'id': 'smallYellow','type': 'BOX','pos': { 'x': 0.30,'y': -0.20,'z': 0.930700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': 1, 'g': 1 } },
+  { 'id': 'smallRed','type': 'BOX','pos': { 'x': 0.15,'y': -0.15,'z': 0.930700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
 
   # heights of objects (including pins):
   # formula: half-height * 9.6 + 4.6
diff --git a/config/config_scene_st-table.yaml b/config/config_scene_st-table.yaml
index e439e2220b0df76bbaab4477483a1e425c4177a8..4699319daea738bcb89d92b96a004fd6c75f4593 100644
--- a/config/config_scene_st-table.yaml
+++ b/config/config_scene_st-table.yaml
@@ -27,16 +27,15 @@
 
   # 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+7160)/10000, (i*96+46)/10000));
 
-  { 'id': 'object4x2x4.5_r','type': 'BOX','pos': { 'x': 0.3,'y': 0.300000,'z': 0.761500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { r: 1 } },
-
-  { 'id': 'object4x2x5.0_y','type': 'BOX','pos': { 'x': 0.3,'y': 0.000000,'z': 0.766300 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { r: 1, g: 1 } },
-  { 'id': 'object4x2x5.0_b','type': 'BOX','pos': { 'x': 0.3,'y': 0.100000,'z': 0.766300 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { b: 1 } },
-  { 'id': 'object4x2x5.0_g','type': 'BOX','pos': { 'x': 0.3,'y': 0.200000,'z': 0.766300 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { g: 1 } },
+  { 'id': 'bigRed','type': 'BOX','pos': { 'x': 0.3,'y': 0.300000,'z': 0.761500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { r: 1 } },
+  { 'id': 'bigYellow','type': 'BOX','pos': { 'x': 0.3,'y': 0.000000,'z': 0.766300 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { r: 1, g: 1 } },
+  { 'id': 'bigBlue','type': 'BOX','pos': { 'x': 0.3,'y': 0.100000,'z': 0.766300 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { b: 1 } },
+  { 'id': 'bigGreen','type': 'BOX','pos': { 'x': 0.3,'y': 0.200000,'z': 0.766300 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { g: 1 } },
 
 
   # for i in range(3,10): print("{ 'id': 'object2x2x%.1f','type': 'BOX','pos': { 'x': 0.5,'y': %f,'z': %f },'size': { 'length': .0318, 'width': .0318,'height': %f },'orientation': { 'w': 1 },'color': {} }," % (i/2, (i-6)*.1, (i*48+23+7160)/10000, (i*96+46)/10000));
-  { 'id': 'object2x2x4.0_r','type': 'BOX','pos': { 'x': 0.5,'y': -0.100000,'z': 0.756700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { r: 1 } },
-  { 'id': 'object2x2x4.0_y','type': 'BOX','pos': { 'x': 0.5,'y': 0.00000,'z': 0.756700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { r: 1, g: 1 } },
+  { 'id': 'smallRed','type': 'BOX','pos': { 'x': 0.5,'y': -0.100000,'z': 0.756700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { r: 1 } },
+  { 'id': 'smallYellow','type': 'BOX','pos': { 'x': 0.5,'y': 0.00000,'z': 0.756700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { r: 1, g: 1 } },
 
 
   { 'id': 'arm','type': 'ARM','pos': { 'z': 0.716 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
diff --git a/config/config_scene_td.yaml b/config/config_scene_td.yaml
deleted file mode 100644
index 345930ee7fd28ce9f49e34965da75d6a5d211d09..0000000000000000000000000000000000000000
--- a/config/config_scene_td.yaml
+++ /dev/null
@@ -1,26 +0,0 @@
-{ 'objects': [
-  { 'id': 'tablePillar1','pos': { 'x': 0.37,'y': 0.37,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
-  { 'id': 'tablePillar2','pos': { 'x': -0.37,'y': -0.37,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
-  { 'id': 'tablePillar3','pos': { 'x': -0.37,'y': 0.37,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
-  { 'id': 'tablePillar4','pos': { 'x': 0.37,'y': -0.37,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
-
-  { 'id': 'tableCenter','pos': { 'z': 0.7 },'size': { 'length': 0.8,'width': 0.8,'height': 0.1 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
-  { 'id': 'tableLeft','pos': { 'z': 0.7, 'y': -0.665 },'size': { 'length': 0.8,'width': 0.51,'height': 0.1 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
-  { 'id': 'tableRight','pos': { 'z': 0.7, 'y': 0.665 },'size': { 'length': 0.8,'width': 0.51,'height': 0.1 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
-  { 'id': 'tableFront','pos': { 'z': 0.7, 'x': 0.665 },'size': { 'length': 0.51,'width': 0.8,'height': 0.1 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
-
-  { 'id': 'binBlue','type': 'BIN','pos': { 'x': -0.15,'y': 0.50,'z': 0.8325 },'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
-  { 'id': 'binRed','type': 'BIN','pos': { 'x': 0.20,'y': 0.50,'z': 0.8325 },'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
-
-  { 'id': 'objectRed1','type': 'BOX','pos': { 'x': 0.5,'y': -0.1,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'r': 1 } },
-  { 'id': 'objectRed2','type': 'BOX','pos': { 'x': 0.25,'y': -0.2,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
-  { 'id': 'objectRed3','type': 'BOX','pos': { 'x': 0.35, 'y': 0.1,'z': 0.819 },'size': { 'length': 0.031,'width': 0.031,'height': 0.138 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'r': 1 } },
-  { 'id': 'objectGreen1','type': 'BOX','pos': { 'x': 0.45,'y': -0.3,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'g': 1 } },
-  { 'id': 'objectGreen2','type': 'BOX','pos': { 'x': 0.0,'y': -0.5,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.031,'height': 0.138 },'orientation': { 'z': 1,'w': 0.92388 },'color': { 'g': 1 } },
-  { 'id': 'objectGreen3','type': 'BOX','pos': { 'x': 0.1,'y': -0.3,'z': 0.819 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'g': 1 } },
-  { 'id': 'objectBlue1','type': 'BOX','pos': { 'x': 0.25,'y': -0.5,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'b': 1 } },
-  { 'id': 'objectBlue2','type': 'BOX','pos': { 'x': -0.2,'y': -0.3,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'b': 1 } },
-  { 'id': 'objectBlue3','type': 'BOX','pos': { 'x': 0.45,'y': 0.1, 'z': 0.819 },'size': { 'length': 0.031,'width': 0.031,'height': 0.138 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'b': 1 } },
-
-  { 'id': 'arm','type': 'ARM','pos': { 'z': 0.75 , 'x': -0.22 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
-] }