diff --git a/config/config_scene.yaml b/config/config_scene.yaml
deleted file mode 100644
index 6522ef9b744be2d11e428eefa59d77c3dd56ac2e..0000000000000000000000000000000000000000
--- a/config/config_scene.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-{ 'objects': [
- { 'id': 'tablePillar1','pos': { 'x': 0.77,'y': 0.77,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
- { 'id': 'tablePillar2','pos': { 'x': -0.77,'y': -0.77,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
- { 'id': 'tablePillar3','pos': { 'x': -0.77,'y': 0.77,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
- { 'id': 'tablePillar4','pos': { 'x': 0.77,'y': -0.77,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
- { 'id': 'tableCenter','pos': { 'z': 0.7 },'size': { 'length': 1.6,'width': 1.6,'height': 0.1 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
- { 'id': 'binBlue','type': 'BIN','pos': { 'x': -0.34,'y': 0.49,'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': 0.06,'y': 0.49,'z': 0.8325 },'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': 0.8325 },'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'g': 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': -0.4,'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': -0.45,'y': -0.2,'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': -0.4,'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': -0.3,'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': 0.4,'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 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
-] }
diff --git a/launch/ceti-table_robot_main_dummy_selector.launch b/launch/ceti-table_robot_main_dummy_selector.launch
deleted file mode 100644
index ae399802695a8b40d4fb8daa1ae7e7c88e65c2da..0000000000000000000000000000000000000000
--- a/launch/ceti-table_robot_main_dummy_selector.launch
+++ /dev/null
@@ -1,4 +0,0 @@
-<launch>
- <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen"/>
- <include file="$(find ccf_immersive_sorting)/launch/ceti-table_robot_main.launch" />
-</launch>
diff --git a/launch/ceti-table_simulated_main_dummy_selector.launch b/launch/ceti-table_simulated_main_dummy_selector.launch
deleted file mode 100644
index 6ce6439b0ecaef20e16328ce9c1c8d8e6a7c861a..0000000000000000000000000000000000000000
--- a/launch/ceti-table_simulated_main_dummy_selector.launch
+++ /dev/null
@@ -1,4 +0,0 @@
-<launch>
- <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen"/>
- <include file="$(find ccf_immersive_sorting)/launch/ceti-table_simulated_main.launch" />
-</launch>
diff --git a/launch/ceti-table_dummy_main.launch b/launch/dummy-cell_ads-table.launch
similarity index 53%
rename from launch/ceti-table_dummy_main.launch
rename to launch/dummy-cell_ads-table.launch
index 59e4ca2420b3f13a29a4e8a017d3175f641d5c05..09cebe099a03dccdafd5af393bbfcc492e76e4b1 100644
--- a/launch/ceti-table_dummy_main.launch
+++ b/launch/dummy-cell_ads-table.launch
@@ -1,12 +1,12 @@
<launch>
- <arg name="connection_address" default="tcp://*:6576" />
- <arg name="client_controllers" default="[]" />
+ <arg name="connection_address" default="tcp://*:6576"/>
+ <arg name="client_controllers" default="[]"/>
- <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ceti" 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="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json" />
+ <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ceti-cell" output="screen">
+ <param name="connection_address" type="string" value="$(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_ads-table.json"/>
</node>
</launch>
diff --git a/launch/dummy-cell_ceti-table.launch b/launch/dummy-cell_ceti-table.launch
new file mode 100644
index 0000000000000000000000000000000000000000..81a4e2039caadea1aeaa437b9fe0de2216a3ef88
--- /dev/null
+++ b/launch/dummy-cell_ceti-table.launch
@@ -0,0 +1,12 @@
+<launch>
+
+ <arg name="connection_address" default="tcp://*:6576"/>
+ <arg name="client_controllers" default="[]"/>
+
+ <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ceti-cell" 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="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/>
+ </node>
+
+</launch>
diff --git a/launch/dummy-cell_st-table.launch b/launch/dummy-cell_st-table.launch
new file mode 100644
index 0000000000000000000000000000000000000000..4b52ad02bc6219343d1d87535e0ec78ef956af58
--- /dev/null
+++ b/launch/dummy-cell_st-table.launch
@@ -0,0 +1,12 @@
+<launch>
+
+ <arg name="connection_address" default="tcp://*:6576"/>
+ <arg name="client_controllers" default="[]"/>
+
+ <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ads-cell" output="screen">
+ <param name="connection_address" type="string" value="$(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_st-table.json"/>
+ </node>
+
+</launch>
diff --git a/launch/dummy_main_dummy_client_dummy_selector.launch b/launch/dummy_main_dummy_client_dummy_selector.launch
deleted file mode 100644
index 521c5d52fa4907b7a7e14577db0396dd4c7ffb9d..0000000000000000000000000000000000000000
--- a/launch/dummy_main_dummy_client_dummy_selector.launch
+++ /dev/null
@@ -1,14 +0,0 @@
-<launch>
-
- <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen"/>
- <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="main_controller" output="screen">
- <param name="connection_address" type="string" value="tcp://*:6576" />
- <param name="client_controllers" type="yaml" value="['tcp://127.0.0.1:6586']" />
- <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene.yaml" />
- </node>
- <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="client_controller" output="screen">
- <param name="connection_address" type="string" value="tcp://*:6586" />
- <param name="client_controllers" type="yaml" value="[]" />
- <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene.yaml" />
- </node>
-</launch>
diff --git a/launch/dummy_main_dummy_selector.launch b/launch/dummy_main_dummy_selector.launch
deleted file mode 100644
index 7a0511a9a1ad6c946befba3023c015472669580c..0000000000000000000000000000000000000000
--- a/launch/dummy_main_dummy_selector.launch
+++ /dev/null
@@ -1,4 +0,0 @@
-<launch>
- <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen"/>
- <include file="$(find ccf_immersive_sorting)/launch/dummy_main.launch" />
-</launch>
diff --git a/launch/dummy_main_external_client.launch b/launch/dummy_main_external_client.launch
deleted file mode 100644
index ba77e8d92c3991baf3641435520742288cfc0f60..0000000000000000000000000000000000000000
--- a/launch/dummy_main_external_client.launch
+++ /dev/null
@@ -1,7 +0,0 @@
-<launch>
- <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="main_controller" output="screen">
- <param name="connection_address" type="string" value="tcp://*:6576" />
- <param name="client_controllers" type="yaml" value="['tcp://127.0.0.1:6586']" />
- <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene.yaml" />
- </node>
-</launch>
diff --git a/launch/dummy_main_simulated_client.launch b/launch/dummy_main_simulated_client.launch
deleted file mode 100644
index 54fa35a508a5eafb9a5404d2f588b6da2a18a0af..0000000000000000000000000000000000000000
--- a/launch/dummy_main_simulated_client.launch
+++ /dev/null
@@ -1,14 +0,0 @@
-<launch>
- <include file="$(find ccf)/launch/simulation_setup.launch"/>
-
- <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="main_controller" output="screen">
- <param name="connection_address" type="string" value="tcp://*:6576" />
- <param name="client_controllers" type="yaml" value="['tcp://127.0.0.1:6586']" />
- <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene.yaml" />
- </node>
- <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="client_controller" output="screen">
- <param name="connection_address" type="string" value="tcp://*:6586" />
- <param name="client_controllers" type="yaml" value="[]" />
- <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene.yaml" />
- </node>
-</launch>
diff --git a/launch/virtual-table_main_controller.launch b/launch/main_controller_virtual-table.launch
similarity index 100%
rename from launch/virtual-table_main_controller.launch
rename to launch/main_controller_virtual-table.launch
diff --git a/launch/dummy_selector.launch b/launch/random_selector_automatic.launch
similarity index 100%
rename from launch/dummy_selector.launch
rename to launch/random_selector_automatic.launch
diff --git a/launch/dummy_selector_manual.launch b/launch/random_selector_manual.launch
similarity index 100%
rename from launch/dummy_selector_manual.launch
rename to launch/random_selector_manual.launch
diff --git a/launch/ads-table_robot_main.launch b/launch/robot-cell_ads-table.launch
similarity index 93%
rename from launch/ads-table_robot_main.launch
rename to launch/robot-cell_ads-table.launch
index af39594d004b05c2deefb5b0d47b3db593e85455..a329b020be9d07f6670b84248698341e18aff1e6 100644
--- a/launch/ads-table_robot_main.launch
+++ b/launch/robot-cell_ads-table.launch
@@ -1,6 +1,5 @@
<launch>
<arg name="robot_ip" default="172.31.1.13" />
-<!-- <arg name="robot_ip" default="172.16.0.2" />-->
<arg name="load_gripper" default="true" />
<arg name="connection_address" default="tcp://*:6576" />
<arg name="client_controllers" default="[]" />
diff --git a/launch/ceti-table_robot_main.launch b/launch/robot-cell_ceti-table.launch
similarity index 99%
rename from launch/ceti-table_robot_main.launch
rename to launch/robot-cell_ceti-table.launch
index 3c974b4e9e22531fe5c62a0ae691f7050fb25d7f..9d94e426b93fed5b0825a6ceee2f529d6f8678d5 100644
--- a/launch/ceti-table_robot_main.launch
+++ b/launch/robot-cell_ceti-table.launch
@@ -1,5 +1,4 @@
<launch>
-
<arg name="robot_ip" default="172.31.1.13" />
<arg name="load_gripper" default="true" />
<arg name="connection_address" default="tcp://*:6576" />
diff --git a/launch/st-table_robot_main.launch b/launch/robot-cell_st-table.launch
similarity index 99%
rename from launch/st-table_robot_main.launch
rename to launch/robot-cell_st-table.launch
index 0f2b3189c030a93e07e8ac461a50c7e9239b699a..558a4ba995ff4f9c51fc9e863f2f44ba448062da 100644
--- a/launch/st-table_robot_main.launch
+++ b/launch/robot-cell_st-table.launch
@@ -1,5 +1,4 @@
<launch>
-
<arg name="robot_ip" default="172.31.1.13" />
<arg name="load_gripper" default="true" />
<arg name="connection_address" default="tcp://*:6576" />
diff --git a/launch/robot_main.launch b/launch/robot_main.launch
deleted file mode 100644
index a1fa771ad23771d4a1a12d3ee1a754ec3e3c8c5c..0000000000000000000000000000000000000000
--- a/launch/robot_main.launch
+++ /dev/null
@@ -1,20 +0,0 @@
-<launch>
-
- <arg name="robot_ip" default="172.31.1.13" />
- <!-- <arg name="robot_ip" default="172.16.0.2" /> -->
- <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="$(find ccf_immersive_sorting)/config/config_scene.yaml" />
- </node>
-
-</launch>
diff --git a/launch/robot_main_dummy_selector.launch b/launch/robot_main_dummy_selector.launch
deleted file mode 100644
index 5d3b444e018d9940688aaa3c604e1c0c8680eb4c..0000000000000000000000000000000000000000
--- a/launch/robot_main_dummy_selector.launch
+++ /dev/null
@@ -1,4 +0,0 @@
-<launch>
- <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen"/>
- <include file="$(find ccf_immersive_sorting)/launch/robot_main.launch" />
-</launch>
diff --git a/launch/dummy_main.launch b/launch/simulated-cell_ads-table.launch
similarity index 60%
rename from launch/dummy_main.launch
rename to launch/simulated-cell_ads-table.launch
index 9ab8eaf84e3c3fd08b070762c3829a177013af4b..8e26a69a9b17eec24335116f64e7ba691b3d961e 100644
--- a/launch/dummy_main.launch
+++ b/launch/simulated-cell_ads-table.launch
@@ -3,10 +3,12 @@
<arg name="connection_address" default="tcp://*:6576" />
<arg name="client_controllers" default="[]" />
- <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="my_dummy_sorting_controller" output="screen">
+ <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.yaml" />
+ <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json" />
</node>
</launch>
diff --git a/launch/ceti-table_simulated_main.launch b/launch/simulated-cell_ceti-table.launch
similarity index 100%
rename from launch/ceti-table_simulated_main.launch
rename to launch/simulated-cell_ceti-table.launch
diff --git a/launch/simulated_main.launch b/launch/simulated-cell_st-table.launch
similarity index 91%
rename from launch/simulated_main.launch
rename to launch/simulated-cell_st-table.launch
index afb6dc2ea73be5d433d28bcc7ee8a251c77d15fb..3a0cebf077faf012ee71a0c4eb4d32754043723f 100644
--- a/launch/simulated_main.launch
+++ b/launch/simulated-cell_st-table.launch
@@ -8,7 +8,7 @@
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance" output="screen" >
<param name="connection_address" type="string" value="$(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.yaml" />
+ <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_st-table.json" />
</node>
</launch>
diff --git a/launch/simulated_main_dummy_client.launch b/launch/simulated_main_dummy_client.launch
deleted file mode 100644
index f319995c1198783f1076baa5f7d4cccbfb16767a..0000000000000000000000000000000000000000
--- a/launch/simulated_main_dummy_client.launch
+++ /dev/null
@@ -1,14 +0,0 @@
-<launch>
- <include file="$(find ccf)/launch/simulation_setup.launch"/>
-
- <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="main_controller" output="screen">
- <param name="connection_address" type="string" value="tcp://*:6576" />
- <param name="client_controllers" type="yaml" value="['tcp://127.0.0.1:6586']" />
- <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene.yaml" />
- </node>
- <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="client_controller" output="screen">
- <param name="connection_address" type="string" value="tcp://*:6586" />
- <param name="client_controllers" type="yaml" value="[]" />
- <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene.yaml" />
- </node>
-</launch>
diff --git a/launch/simulated_main_dummy_selector.launch b/launch/simulated_main_dummy_selector.launch
deleted file mode 100644
index e845cbb02e0bcc54606007611766c029f9edfc0e..0000000000000000000000000000000000000000
--- a/launch/simulated_main_dummy_selector.launch
+++ /dev/null
@@ -1,4 +0,0 @@
-<launch>
- <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen"/>
- <include file="$(find ccf_immersive_sorting)/launch/simulated_main.launch" />
-</launch>
diff --git a/launch/simulated_main_external_client.launch b/launch/simulated_main_external_client.launch
deleted file mode 100644
index 1a22b53a6cfafb74bd1a6213b730bf447bb23df4..0000000000000000000000000000000000000000
--- a/launch/simulated_main_external_client.launch
+++ /dev/null
@@ -1,9 +0,0 @@
-<launch>
- <include file="$(find ccf)/launch/simulation_setup.launch"/>
-
- <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="main_controller" output="screen">
- <param name="connection_address" type="string" value="tcp://*:6576" />
- <param name="client_controllers" type="yaml" value="['tcp://127.0.0.1:6586']" />
- <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene.yaml" />
- </node>
-</launch>
diff --git a/src/dummy_sorting_controller.cpp b/src/dummy_sorting_controller.cpp
index 0e06b1456a7a97ac0806bfb8dc052a11c36b2bbb..fcf5a5f1a8e5e7382a38de68d2b14f041d66abc4 100644
--- a/src/dummy_sorting_controller.cpp
+++ b/src/dummy_sorting_controller.cpp
@@ -52,7 +52,7 @@ int main(int argc, char **argv) {
ros::WallDuration(5).sleep(); // wait 5 secs to init scene (to give moveit time to load)
connector.loadScene(getPrivateParameter<std::string>("scene", ros::package::getPath("ccf_immersive_sorting") +
- "/config/config_scene.yaml"));
+ "/config/config_scene_st-table.json"));
Object *robot = nullptr;
Object *selectedBox = nullptr;
diff --git a/src/main_controller.cpp b/src/main_controller.cpp
index ba9a07684513bbdcc127742f50451448b265b386..c38d0f8ff759eb4366508711a531d649d3c4836a 100644
--- a/src/main_controller.cpp
+++ b/src/main_controller.cpp
@@ -71,7 +71,7 @@ int main(int argc, char **argv) {
}
connector.loadScene(getPrivateParameter<std::string>("scene", ros::package::getPath("ccf_immersive_sorting") +
- "/config/config_scene.yaml"));
+ "/config/config_scene_st-table.json"));
Object *robot = nullptr;
Object *selectedBox = nullptr;
diff --git a/src/moveit_sorting_controller.cpp b/src/moveit_sorting_controller.cpp
index 28863b448bdef9781f4594e4b5cdfb3ad845eb72..5da35004149c5846080e1d8dfc80b759e89add23 100644
--- a/src/moveit_sorting_controller.cpp
+++ b/src/moveit_sorting_controller.cpp
@@ -50,7 +50,7 @@ int main(int argc, char **argv) {
ros::WallDuration(5).sleep(); // wait 5 secs to init scene (to give moveit time to load)
connector.loadScene(getPrivateParameter<std::string>("scene", ros::package::getPath("ccf_immersive_sorting") +
- "/config/config_scene.yaml"));
+ "/config/config_scene_st-table.json"));
Object *robot = nullptr;
Object *selectedBox = nullptr;