diff --git a/config/config_scene_ceti-table-1-empty.json b/config/config_scene_ceti-table-1-empty.json
index d0cd87394d2c3df00beb82476b8cd500c19c255e..a0c4c5de3b6a7b5389932e54912ce942ff8ca53f 100644
--- a/config/config_scene_ceti-table-1-empty.json
+++ b/config/config_scene_ceti-table-1-empty.json
@@ -247,14 +247,14 @@
       "id": "binBlue",
       "type": "BIN",
       "pos": {
-        "x": -0.255,
-        "y": 0.5475,
-        "z": 0.9675
+        "x": -0.23,
+        "y": 0.67,
+        "z": 0.9425
       },
       "size": {
-        "length": 0.19,
-        "width": 0.285,
-        "height": 0.155
+        "length": 0.24,
+        "width": 0.17,
+        "height": 0.105
       },
       "orientation": {
         "w": 1
@@ -267,14 +267,14 @@
       "id": "binRed",
       "type": "BIN",
       "pos": {
-        "x": -0.055,
-        "y": 0.5475,
-        "z": 0.9675
+        "x": -0.23,
+        "y": 0.49,
+        "z": 0.9425
       },
       "size": {
-        "length": 0.19,
-        "width": 0.285,
-        "height": 0.155
+        "length": 0.24,
+        "width": 0.17,
+        "height": 0.105
       },
       "orientation": {
         "w": 1
@@ -287,14 +287,14 @@
       "id": "binGreen",
       "type": "BIN",
       "pos": {
-        "x": 0.145,
-        "y": 0.5475,
-        "z": 0.9675
+        "x": -0.23,
+        "y": -0.49,
+        "z": 0.9425
       },
       "size": {
-        "length": 0.19,
-        "width": 0.285,
-        "height": 0.155
+        "length": 0.24,
+        "width": 0.17,
+        "height": 0.105
       },
       "orientation": {
         "w": 1
@@ -303,6 +303,27 @@
         "g": 1
       }
     },
+    {
+      "id": "binYellow",
+      "type": "BIN",
+      "pos": {
+        "x": -0.23,
+        "y": -0.67,
+        "z": 0.9425
+      },
+      "size": {
+        "length": 0.24,
+        "width": 0.17,
+        "height": 0.105
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1,
+        "g": 1
+      }
+    },
     {
       "id": "arm",
       "type": "ARM",
diff --git a/config/config_scene_ceti-table-1-empty.yaml b/config/config_scene_ceti-table-1-empty.yaml
index 8e076ac6e8fbc8e6e45a6ab18717117fe3094d59..9a43ebfc70cce8365a32063e3d9680e108976f63 100644
--- a/config/config_scene_ceti-table-1-empty.yaml
+++ b/config/config_scene_ceti-table-1-empty.yaml
@@ -29,9 +29,10 @@
   # the width is 31.8 or 63.6
   # if they stand on a panel edge, they stand at 40 + 0.5 + 14.25 = 54.75
   # their x location is N*19 + 9.5 - 35 = N*20 - 25.5 = -25.5 and -5.5 and 14.5 if they have 1 cm distance
-  { 'id': 'binBlue', 'type': 'BIN','pos': { 'x': -0.255,'y': 0.5475,'z': 0.9675 },'size': { 'length': 0.19,'width': 0.285,'height': 0.155 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
-  { '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': 'binBlue',  'type': 'BIN','pos': { 'x': -0.23,'y':  0.67,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+  { 'id': 'binRed',   'type': 'BIN','pos': { 'x': -0.23,'y':  0.49,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+  { 'id': 'binGreen', 'type': 'BIN','pos': { 'x': -0.23,'y': -0.49,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+  { 'id': 'binYellow','type': 'BIN','pos': { 'x': -0.23,'y': -0.67,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { r: 1, 'g': 1 } },
 
   { '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 } }
 ] }