diff --git a/config/config_scene_ceti-table.json b/config/config_scene_ceti-table.json
index 597f6fa8724b33d5dc9fc70bcc2b55bbb17b432b..0153a59159800342ea2897212f6f5cd2bee3676c 100644
--- a/config/config_scene_ceti-table.json
+++ b/config/config_scene_ceti-table.json
@@ -85,13 +85,74 @@
       }
     },
     {
-      "id": "table_body",
+      "id": "table_body_front",
       "pos": {
+        "x": 0.345,
         "z": 0.5
       },
       "size": {
-        "length": 0.69,
+        "length": 0.005,
+        "width": 0.69,
+        "height": 0.76
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 0.15,
+        "g": 0.15,
+        "b": 0.15
+      }
+    },
+    {
+      "id": "table_body_back",
+      "pos": {
+        "x": -0.345,
+        "z": 0.45
+      },
+      "size": {
+        "length": 0.005,
         "width": 0.69,
+        "height": 0.66
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 0.15,
+        "g": 0.15,
+        "b": 0.15
+      }
+    },
+    {
+      "id": "table_body_left",
+      "pos": {
+        "y": 0.345,
+        "z": 0.5
+      },
+      "size": {
+        "length": 0.69,
+        "width": 0.005,
+        "height": 0.76
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 0.15,
+        "g": 0.15,
+        "b": 0.15
+      }
+    },
+    {
+      "id": "table_body_right",
+      "pos": {
+        "y": -0.345,
+        "z": 0.5
+      },
+      "size": {
+        "length": 0.69,
+        "width": 0.005,
         "height": 0.76
       },
       "orientation": {
@@ -163,7 +224,7 @@
       }
     },
     {
-      "id": "ffront_panel",
+      "id": "front_panel",
       "pos": {
         "z": 0.885,
         "x": 0.6525
@@ -243,130 +304,126 @@
       }
     },
     {
-      "id": "object4x2x1.5",
+      "id": "object4x2x5.0_Y",
       "type": "BOX",
       "pos": {
-        "x": 0.3,
-        "y": -0.3,
-        "z": 0.9067
+        "x": 0.2,
+        "y": 0.05,
+        "z": 0.9403
       },
       "size": {
         "length": 0.0318,
         "width": 0.0636,
-        "height": 0.0334
+        "height": 0.1006
       },
       "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": {}
+      "color": {
+        "r": 1,
+        "g": 1
+      }
     },
     {
-      "id": "object4x2x2.5",
+      "id": "object4x2x4.5_G",
       "type": "BOX",
       "pos": {
         "x": 0.3,
-        "y": -0.1,
-        "z": 0.9163
+        "y": 0.3,
+        "z": 0.9355
       },
       "size": {
         "length": 0.0318,
         "width": 0.0636,
-        "height": 0.0526
+        "height": 0.091
       },
       "orientation": {
         "w": 1
       },
-      "color": {}
+      "color": {
+        "g": 1
+      }
     },
     {
-      "id": "object4x2x3.0",
+      "id": "object4x2x4.5_B",
       "type": "BOX",
       "pos": {
-        "x": 0.3,
-        "y": 0,
-        "z": 0.9211
+        "x": 0.1,
+        "y": -0.25,
+        "z": 0.9355
       },
       "size": {
         "length": 0.0318,
         "width": 0.0636,
-        "height": 0.0622
+        "height": 0.091
       },
       "orientation": {
         "w": 1
       },
-      "color": {}
+      "color": {
+        "b": 1
+      }
     },
     {
-      "id": "object4x2x3.5",
+      "id": "object2x2x4.0_b",
       "type": "BOX",
       "pos": {
-        "x": 0.3,
-        "y": 0.1,
-        "z": 0.9259
+        "x": 0.1,
+        "y": 0.2,
+        "z": 0.9307
       },
       "size": {
         "length": 0.0318,
-        "width": 0.0636,
-        "height": 0.0718
+        "width": 0.0318,
+        "height": 0.0814
       },
       "orientation": {
         "w": 1
       },
-      "color": {}
+      "color": {
+        "b": 1
+      }
     },
     {
-      "id": "object4x2x4.0",
+      "id": "object2x2x4.0_y",
       "type": "BOX",
       "pos": {
         "x": 0.3,
-        "y": 0.2,
+        "y": -0.2,
         "z": 0.9307
       },
       "size": {
         "length": 0.0318,
-        "width": 0.0636,
+        "width": 0.0318,
         "height": 0.0814
       },
       "orientation": {
         "w": 1
       },
-      "color": {}
+      "color": {
+        "r": 1,
+        "g": 1
+      }
     },
     {
-      "id": "object4x2x4.5",
+      "id": "object2x2x4.0_r",
       "type": "BOX",
       "pos": {
-        "x": 0.3,
-        "y": 0.3,
-        "z": 0.9355
+        "x": 0.15,
+        "y": -0.15,
+        "z": 0.9307
       },
       "size": {
         "length": 0.0318,
-        "width": 0.0636,
-        "height": 0.091
+        "width": 0.0318,
+        "height": 0.0814
       },
       "orientation": {
         "w": 1
       },
-      "color": {}
+      "color": {
+        "r": 1
+      }
     },
     {
       "id": "arm",
diff --git a/config/config_scene_ceti-table.yaml b/config/config_scene_ceti-table.yaml
index 99d579a4abefcfe6452a26292d03eb5aeacb566a..3048dc298f4e68716021dc099db50e549df2f1e9 100644
--- a/config/config_scene_ceti-table.yaml
+++ b/config/config_scene_ceti-table.yaml
@@ -13,11 +13,16 @@
   { '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 } },
+  # a filled table and a backplate going all the way up is not possible, because of the oversized collision model of the robot
+  #  { '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_body_front','pos': { 'x':  .345, 'z': 0.50 },'size': { 'length': 0.005,'width': 0.69,'height': 0.76 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+  { 'id': 'table_body_back', 'pos': { 'x': -.345, 'z': 0.45 },'size': { 'length': 0.005,'width': 0.69,'height': 0.66 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+  { 'id': 'table_body_left', 'pos': { 'y':  .345, 'z': 0.50 },'size': { 'length': 0.69,'width': 0.005,'height': 0.76 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+  { 'id': 'table_body_right','pos': { 'y': -.345, 'z': 0.50 },'size': { 'length': 0.69,'width': 0.005,'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': 'front_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
@@ -28,17 +33,19 @@
   { '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': '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': '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 } },
+
   # 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 } }
 ] }