diff --git a/config/config_scene_ga_st-table-2.json b/config/config_scene_ga_st-table-2.json
index 1787f64225542cdee9bc3b8c79e80c63ba4ffedf..503c3dfb5c2ec0850228ff1950dc0e22317d4060 100644
--- a/config/config_scene_ga_st-table-2.json
+++ b/config/config_scene_ga_st-table-2.json
@@ -320,7 +320,7 @@
         "w": 1
       },
       "color": {
-        "g": 1
+        "b": 1
       }
     },
     {
@@ -340,7 +340,7 @@
         "w": 1
       },
       "color": {
-        "g": 1
+        "b": 1
       }
     },
     {
@@ -360,7 +360,7 @@
         "w": 1
       },
       "color": {
-        "b": 1
+        "g": 1
       }
     },
     {
@@ -380,7 +380,7 @@
         "w": 1
       },
       "color": {
-        "b": 1
+        "g": 1
       }
     },
     {
diff --git a/config/config_scene_ga_st-table-2.yaml b/config/config_scene_ga_st-table-2.yaml
index f567a712373ac06a99aee22a86cf34f5315b001d..28ffbaa174504271e1b28d5befe2fdb39ff1fbfa 100644
--- a/config/config_scene_ga_st-table-2.yaml
+++ b/config/config_scene_ga_st-table-2.yaml
@@ -33,11 +33,11 @@
   { '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': 'blue1','type': 'BOX','pos': { 'x': 0.20,'y': 0.05,'z': 0.940300 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
-  { 'id': 'blue2','type': 'BOX','pos': { 'x': 0.30,'y': 0.30,'z': 0.935500 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+  { 'id': 'blue1','type': 'BOX','pos': { 'x': 0.20,'y': 0.05,'z': 0.940300 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+  { 'id': 'blue2','type': 'BOX','pos': { 'x': 0.30,'y': 0.30,'z': 0.935500 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
   
-  { 'id': 'green1','type': 'BOX','pos': { 'x': 0.10,'y': -0.25,'z': 0.935500 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
-  { 'id': 'green2','type': 'BOX','pos': { 'x': 0.10,'y':  0.20,'z': 0.930700 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+  { 'id': 'green1','type': 'BOX','pos': { 'x': 0.10,'y': -0.25,'z': 0.935500 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+  { 'id': 'green2','type': 'BOX','pos': { 'x': 0.10,'y':  0.20,'z': 0.930700 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
   
   { 'id': 'red1','type': 'BOX','pos': { 'x': 0.30,'y': -0.20,'z': 0.930700 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
   { 'id': 'red2','type': 'BOX','pos': { 'x': 0.15,'y': -0.15,'z': 0.930700 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
diff --git a/config/config_scene_ga_st-table-3.json b/config/config_scene_ga_st-table-3.json
index cf2a4ba6c4c310891488de63a1d75694461da057..4c506d559a80fae23b22d0304aae6e7b16fdddb1 100644
--- a/config/config_scene_ga_st-table-3.json
+++ b/config/config_scene_ga_st-table-3.json
@@ -320,7 +320,7 @@
         "w": 1
       },
       "color": {
-        "g": 1
+        "r": 1
       }
     },
     {
@@ -340,7 +340,7 @@
         "w": 1
       },
       "color": {
-        "g": 1
+        "r": 1
       }
     },
     {
@@ -400,7 +400,7 @@
         "w": 1
       },
       "color": {
-        "r": 1
+        "g": 1
       }
     },
     {
@@ -420,7 +420,7 @@
         "w": 1
       },
       "color": {
-        "r": 1
+        "g": 1
       }
     },
     {
diff --git a/config/config_scene_ga_st-table-3.yaml b/config/config_scene_ga_st-table-3.yaml
index 31f7bd63e821b7e1e659ae8a8363a9eabd5c1bc4..d9474c8f77948cbe1d592fe0d66e017b5dbac04d 100644
--- a/config/config_scene_ga_st-table-3.yaml
+++ b/config/config_scene_ga_st-table-3.yaml
@@ -33,14 +33,14 @@
   { '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': 'red1','type': 'BOX','pos': { 'x': 0.20,'y': 0.05,'z': 0.940300 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
-  { 'id': 'red2','type': 'BOX','pos': { 'x': 0.30,'y': 0.30,'z': 0.935500 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+  { 'id': 'red1','type': 'BOX','pos': { 'x': 0.20,'y': 0.05,'z': 0.940300 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+  { 'id': 'red2','type': 'BOX','pos': { 'x': 0.30,'y': 0.30,'z': 0.935500 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
   
   { 'id': 'blue1','type': 'BOX','pos': { 'x': 0.10,'y': -0.25,'z': 0.935500 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
   { 'id': 'blue2','type': 'BOX','pos': { 'x': 0.10,'y':  0.20,'z': 0.930700 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
   
-  { 'id': 'green1','type': 'BOX','pos': { 'x': 0.30,'y': -0.20,'z': 0.930700 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
-  { 'id': 'green2','type': 'BOX','pos': { 'x': 0.15,'y': -0.15,'z': 0.930700 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+  { 'id': 'green1','type': 'BOX','pos': { 'x': 0.30,'y': -0.20,'z': 0.930700 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+  { 'id': 'green2','type': 'BOX','pos': { 'x': 0.15,'y': -0.15,'z': 0.930700 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
 
   # heights of objects (including pins):
   # formula: half-height * 9.6 + 4.6
diff --git a/config/config_scene_ga_tum-table-1-left.json b/config/config_scene_ga_tum-table-1-left.json
index 313e4253f16536caa541e8edc2ed4ce0716ada11..34b67ae5f730433c37fa7fd0c8187fcd674b17fd 100644
--- a/config/config_scene_ga_tum-table-1-left.json
+++ b/config/config_scene_ga_tum-table-1-left.json
@@ -307,8 +307,8 @@
       "id": "blue2",
       "type": "BOX",
       "pos": {
-        "x": 0.1,
-        "y": 0.2,
+        "x": 0.3,
+        "y": 0,
         "z": 0.9307
       },
       "size": {
@@ -368,8 +368,8 @@
       "type": "ARM",
       "pos": {
         "z": 0.89,
-        "x": -0.2,
-        "y": 0.24
+        "x": -0.298,
+        "y": 0.2655
       },
       "size": {},
       "orientation": {
diff --git a/config/config_scene_ga_tum-table-1-left.yaml b/config/config_scene_ga_tum-table-1-left.yaml
index 451213fd44edfb8cb3864cd7e6cb24c2feeffafb..70cdd705aa42678ba821cae64ceda80471b55e3b 100644
--- a/config/config_scene_ga_tum-table-1-left.yaml
+++ b/config/config_scene_ga_tum-table-1-left.yaml
@@ -34,7 +34,7 @@
   { 'id': 'green2','type': 'BOX','pos': { 'x': 0.30,'y': 0.30,'z': 0.935500 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
   
   { 'id': 'blue1','type': 'BOX','pos': { 'x': 0.30,'y': 0.15,'z': 0.935500 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
-  { 'id': 'blue2','type': 'BOX','pos': { 'x': 0.10,'y':  0.20,'z': 0.930700 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+  { 'id': 'blue2','type': 'BOX','pos': { 'x': 0.30,'y': 0.00,'z': 0.930700 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
   
   { 'id': 'red1','type': 'BOX','pos': { 'x': 0.30,'y': -0.15,'z': 0.930700 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
   { 'id': 'red2','type': 'BOX','pos': { 'x': 0.15,'y': 0.45,'z': 0.930700 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
@@ -44,5 +44,5 @@
   # 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': 'arm','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.20 , 'y' : 0.24 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
+  { 'id': 'arm','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.298 , 'y' : 0.2655 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
 ] }
diff --git a/config/config_scene_ga_tum-table-1-right.json b/config/config_scene_ga_tum-table-1-right.json
index 4ef73dbc1ba5a99ebf81e5ecde9d9e220a4aa509..fbe17a4787b363c4a33a44dbc5d8be4a956ff689 100644
--- a/config/config_scene_ga_tum-table-1-right.json
+++ b/config/config_scene_ga_tum-table-1-right.json
@@ -307,8 +307,8 @@
       "id": "red2",
       "type": "BOX",
       "pos": {
-        "x": 0.1,
-        "y": -0.2,
+        "x": 0.3,
+        "y": 0,
         "z": 0.9307
       },
       "size": {
@@ -368,8 +368,8 @@
       "type": "ARM",
       "pos": {
         "z": 0.89,
-        "x": -0.2,
-        "y": -0.24
+        "x": -0.298,
+        "y": -0.2655
       },
       "size": {},
       "orientation": {
diff --git a/config/config_scene_ga_tum-table-1-right.yaml b/config/config_scene_ga_tum-table-1-right.yaml
index d6bd748e0495124716aeb8ed4561f2064321ee66..f043258dbd994eb48dd18d8eb7bfda1215594572 100644
--- a/config/config_scene_ga_tum-table-1-right.yaml
+++ b/config/config_scene_ga_tum-table-1-right.yaml
@@ -34,7 +34,7 @@
   { 'id': 'blue2','type': 'BOX','pos': { 'x': 0.30,'y': -0.30,'z': 0.935500 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
   
   { 'id': 'green1','type': 'BOX','pos': { 'x': 0.30,'y': -0.15,'z': 0.935500 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
-  { 'id': 'red2','type': 'BOX','pos': { 'x': 0.10,'y':  -0.20,'z': 0.930700 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+  { 'id': 'red2','type': 'BOX','pos': { 'x': 0.30,'y':  0.00,'z': 0.930700 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
   
   { 'id': 'red1','type': 'BOX','pos': { 'x': 0.30,'y': 0.15,'z': 0.930700 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
   { 'id': 'green2','type': 'BOX','pos': { 'x': 0.15,'y': -0.45,'z': 0.930700 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
@@ -44,5 +44,5 @@
   # 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': 'arm','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.20 , 'y' : -0.24 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
+  { 'id': 'arm','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.298 , 'y' : -0.2655 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
 ] }
diff --git a/config/config_scene_ga_tum-table-2-left.json b/config/config_scene_ga_tum-table-2-left.json
index 08294d98a0d29792345f9e1923b770683785062b..cb190d938ae0835cea47cc7b0e5e323928e528da 100644
--- a/config/config_scene_ga_tum-table-2-left.json
+++ b/config/config_scene_ga_tum-table-2-left.json
@@ -307,8 +307,8 @@
       "id": "red2",
       "type": "BOX",
       "pos": {
-        "x": 0.1,
-        "y": 0.2,
+        "x": 0.3,
+        "y": 0,
         "z": 0.9307
       },
       "size": {
@@ -368,8 +368,8 @@
       "type": "ARM",
       "pos": {
         "z": 0.89,
-        "x": -0.2,
-        "y": 0.24
+        "x": -0.298,
+        "y": 0.2655
       },
       "size": {},
       "orientation": {
diff --git a/config/config_scene_ga_tum-table-2-left.yaml b/config/config_scene_ga_tum-table-2-left.yaml
index 9c76a5361451c41200fe4b1d5221b25971ea5448..7ae2a15727af3fa627448525cd927d201db7d1ae 100644
--- a/config/config_scene_ga_tum-table-2-left.yaml
+++ b/config/config_scene_ga_tum-table-2-left.yaml
@@ -34,7 +34,7 @@
   { 'id': 'blue2','type': 'BOX','pos': { 'x': 0.30,'y': 0.30,'z': 0.935500 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
   
   { 'id': 'red1','type': 'BOX','pos': { 'x': 0.30,'y': 0.15,'z': 0.935500 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
-  { 'id': 'red2','type': 'BOX','pos': { 'x': 0.10,'y':  0.20,'z': 0.930700 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+  { 'id': 'red2','type': 'BOX','pos': { 'x': 0.30,'y':  0.00,'z': 0.930700 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
   
   { 'id': 'green1','type': 'BOX','pos': { 'x': 0.30,'y': -0.15,'z': 0.930700 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
   { 'id': 'green2','type': 'BOX','pos': { 'x': 0.15,'y': 0.45,'z': 0.930700 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
@@ -44,5 +44,5 @@
   # 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': 'arm','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.20 , 'y' : 0.24 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
+  { 'id': 'arm','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.298 , 'y' : 0.2655 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
 ] }
diff --git a/config/config_scene_ga_tum-table-2-right.json b/config/config_scene_ga_tum-table-2-right.json
index c8c3d0cc1152814be30dba000ca37bf36844e24d..935f84072b95f9d7bff01fffe7828b3cfc4c9a14 100644
--- a/config/config_scene_ga_tum-table-2-right.json
+++ b/config/config_scene_ga_tum-table-2-right.json
@@ -307,8 +307,8 @@
       "id": "red2",
       "type": "BOX",
       "pos": {
-        "x": 0.1,
-        "y": -0.2,
+        "x": 0.3,
+        "y": 0,
         "z": 0.9307
       },
       "size": {
@@ -368,8 +368,8 @@
       "type": "ARM",
       "pos": {
         "z": 0.89,
-        "x": -0.2,
-        "y": -0.24
+        "x": -0.298,
+        "y": -0.2655
       },
       "size": {},
       "orientation": {
diff --git a/config/config_scene_ga_tum-table-2-right.yaml b/config/config_scene_ga_tum-table-2-right.yaml
index 573977239dd903b08d7e62d0335889828e5fae0d..b12abdbf6225557b5b42236ad0a188aa9c495fcf 100644
--- a/config/config_scene_ga_tum-table-2-right.yaml
+++ b/config/config_scene_ga_tum-table-2-right.yaml
@@ -34,7 +34,7 @@
   { 'id': 'green1','type': 'BOX','pos': { 'x': 0.30,'y': -0.30,'z': 0.935500 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
   
   { 'id': 'blue2','type': 'BOX','pos': { 'x': 0.30,'y': -0.15,'z': 0.935500 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
-  { 'id': 'red2','type': 'BOX','pos': { 'x': 0.10,'y':  -0.20,'z': 0.930700 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+  { 'id': 'red2','type': 'BOX','pos': { 'x': 0.30,'y':  0.00,'z': 0.930700 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
   
   { 'id': 'green2','type': 'BOX','pos': { 'x': 0.30,'y': 0.15,'z': 0.930700 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
   { 'id': 'red2','type': 'BOX','pos': { 'x': 0.15,'y': -0.45,'z': 0.930700 },'size': { 'length': 0.05,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
@@ -44,5 +44,5 @@
   # 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': 'arm','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.20 , 'y' : -0.24 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
+  { 'id': 'arm','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.298 , 'y' : -0.2655 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
 ] }