From a3aee9382d261e09ba0957d29d6aa5416f3b366c Mon Sep 17 00:00:00 2001
From: SebastianEbert <sebastian.ebert@tu-dresden.de>
Date: Thu, 22 Sep 2022 18:40:04 +0200
Subject: [PATCH] launch files / configs for ga demo

---
 config/config_scene_ga_st-table-1.json        | 444 ++++++++++++++++++
 config/config_scene_ga_st-table-1.yaml        |  51 ++
 config/config_scene_ga_st-table-2.json        | 444 ++++++++++++++++++
 config/config_scene_ga_st-table-2.yaml        |  51 ++
 config/config_scene_ga_st-table-3.json        | 444 ++++++++++++++++++
 config/config_scene_ga_st-table-3.yaml        |  51 ++
 config/config_scene_ga_tum-table-1-left.json  | 385 +++++++++++++++
 config/config_scene_ga_tum-table-1-left.yaml  |  48 ++
 config/config_scene_ga_tum-table-1-right.json | 385 +++++++++++++++
 config/config_scene_ga_tum-table-1-right.yaml |  48 ++
 config/config_scene_ga_tum-table-2-left.json  | 385 +++++++++++++++
 config/config_scene_ga_tum-table-2-left.yaml  |  48 ++
 config/config_scene_ga_tum-table-2-right.json | 385 +++++++++++++++
 config/config_scene_ga_tum-table-2-right.yaml |  48 ++
 config/config_scene_virtual-table.json        |  72 +--
 config/config_scene_virtual-table.yaml        |  17 +-
 config_scene_virtual-table.json               |  54 +++
 ...ual_preview_ceti-table-1_real_robot.launch |   2 +-
 ...ual_preview_ceti-table-2_real_robot.launch |   2 +-
 ...ual_preview_ceti-table-3_real_robot.launch |  12 +
 ...ual_preview_ceti-table-4_real_robot.launch |  12 +
 ...ual_preview_ceti-table-5_real_robot.launch |  12 +
 ...ual_preview_ceti-table-6_real_robot.launch |  12 +
 ...ual_preview_ceti-table-7_real_robot.launch |  12 +
 launch/robot-cell_ceti-table-1.launch         |   2 +-
 launch/robot-cell_ceti-table-2.launch         |   2 +-
 launch/robot-cell_ceti-table-3.launch         |  19 +
 launch/robot-cell_ceti-table-4.launch         |  19 +
 launch/robot-cell_ceti-table-5.launch         |  19 +
 launch/robot-cell_ceti-table-6.launch         |  19 +
 launch/robot-cell_ceti-table-7.launch         |  19 +
 31 files changed, 3453 insertions(+), 70 deletions(-)
 create mode 100644 config/config_scene_ga_st-table-1.json
 create mode 100644 config/config_scene_ga_st-table-1.yaml
 create mode 100644 config/config_scene_ga_st-table-2.json
 create mode 100644 config/config_scene_ga_st-table-2.yaml
 create mode 100644 config/config_scene_ga_st-table-3.json
 create mode 100644 config/config_scene_ga_st-table-3.yaml
 create mode 100644 config/config_scene_ga_tum-table-1-left.json
 create mode 100644 config/config_scene_ga_tum-table-1-left.yaml
 create mode 100644 config/config_scene_ga_tum-table-1-right.json
 create mode 100644 config/config_scene_ga_tum-table-1-right.yaml
 create mode 100644 config/config_scene_ga_tum-table-2-left.json
 create mode 100644 config/config_scene_ga_tum-table-2-left.yaml
 create mode 100644 config/config_scene_ga_tum-table-2-right.json
 create mode 100644 config/config_scene_ga_tum-table-2-right.yaml
 create mode 100644 config_scene_virtual-table.json
 create mode 100644 launch/main_controller_virtual_preview_ceti-table-3_real_robot.launch
 create mode 100644 launch/main_controller_virtual_preview_ceti-table-4_real_robot.launch
 create mode 100644 launch/main_controller_virtual_preview_ceti-table-5_real_robot.launch
 create mode 100644 launch/main_controller_virtual_preview_ceti-table-6_real_robot.launch
 create mode 100644 launch/main_controller_virtual_preview_ceti-table-7_real_robot.launch
 create mode 100644 launch/robot-cell_ceti-table-3.launch
 create mode 100644 launch/robot-cell_ceti-table-4.launch
 create mode 100644 launch/robot-cell_ceti-table-5.launch
 create mode 100644 launch/robot-cell_ceti-table-6.launch
 create mode 100644 launch/robot-cell_ceti-table-7.launch

diff --git a/config/config_scene_ga_st-table-1.json b/config/config_scene_ga_st-table-1.json
new file mode 100644
index 0000000..63a0b00
--- /dev/null
+++ b/config/config_scene_ga_st-table-1.json
@@ -0,0 +1,444 @@
+{
+  "objects": [
+    {
+      "id": "wheel_1",
+      "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_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_front",
+      "pos": {
+        "x": 0.345,
+        "z": 0.5
+      },
+      "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": -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": {
+        "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": "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
+      }
+    },
+    {
+      "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": "green1",
+      "type": "BOX",
+      "pos": {
+        "x": 0.2,
+        "y": 0.05,
+        "z": 0.9403
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "g": 1
+      }
+    },
+    {
+      "id": "green2",
+      "type": "BOX",
+      "pos": {
+        "x": 0.3,
+        "y": 0.3,
+        "z": 0.9355
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "g": 1
+      }
+    },
+    {
+      "id": "blue1",
+      "type": "BOX",
+      "pos": {
+        "x": 0.1,
+        "y": -0.25,
+        "z": 0.9355
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "b": 1
+      }
+    },
+    {
+      "id": "blue2",
+      "type": "BOX",
+      "pos": {
+        "x": 0.1,
+        "y": 0.2,
+        "z": 0.9307
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "b": 1
+      }
+    },
+    {
+      "id": "red1",
+      "type": "BOX",
+      "pos": {
+        "x": 0.3,
+        "y": -0.2,
+        "z": 0.9307
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1
+      }
+    },
+    {
+      "id": "red2",
+      "type": "BOX",
+      "pos": {
+        "x": 0.15,
+        "y": -0.15,
+        "z": 0.9307
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1
+      }
+    },
+    {
+      "id": "arm",
+      "type": "ARM",
+      "pos": {
+        "z": 0.89,
+        "x": -0.22
+      },
+      "size": {},
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1,
+        "g": 1,
+        "b": 1
+      }
+    }
+  ]
+}
diff --git a/config/config_scene_ga_st-table-1.yaml b/config/config_scene_ga_st-table-1.yaml
new file mode 100644
index 0000000..9e84feb
--- /dev/null
+++ b/config/config_scene_ga_st-table-1.yaml
@@ -0,0 +1,51 @@
+# create json file using
+# yq eval -o=json config_scene_ceti-table-1.yaml > config_scene_ceti-table-1.json
+{ 'objects': [
+  # table
+  # height: 12 cm wheels, 76 cm body, 1 cm table-top = 89 cm total
+  # wheels width/depth/height 12*12*12
+  # body width/depth/height 69*69*76
+  # table-top width/depth/height 80*80*1
+  # panels are 50*70, with 0.5 cm distance to the table-top
+  # height of both is 12 + 76 + .5 = 88.5
+  # their centre is at 40 + 0.25 + 25 = 65.25
+  { 'id': 'wheel_1','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_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 } },
+  # 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': '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
+  # 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': 'green1','type': 'BOX','pos': { 'x': 0.20,'y': 0.05,'z': 0.940300 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+  { 'id': 'green2','type': 'BOX','pos': { 'x': 0.30,'y': 0.30,'z': 0.935500 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+  
+  { 'id': 'blue1','type': 'BOX','pos': { 'x': 0.10,'y': -0.25,'z': 0.935500 },'size': { 'length': 0.07,'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': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+  
+  { 'id': 'red1','type': 'BOX','pos': { 'x': 0.30,'y': -0.20,'z': 0.930700 },'size': { 'length': 0.07,'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': 0.07,'width': 0.044,'height': 0.055 },'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': 'arm','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.22 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
+] }
diff --git a/config/config_scene_ga_st-table-2.json b/config/config_scene_ga_st-table-2.json
new file mode 100644
index 0000000..d643dcf
--- /dev/null
+++ b/config/config_scene_ga_st-table-2.json
@@ -0,0 +1,444 @@
+{
+  "objects": [
+    {
+      "id": "wheel_1",
+      "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_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_front",
+      "pos": {
+        "x": 0.345,
+        "z": 0.5
+      },
+      "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": -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": {
+        "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": "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
+      }
+    },
+    {
+      "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": "blue1",
+      "type": "BOX",
+      "pos": {
+        "x": 0.2,
+        "y": 0.05,
+        "z": 0.9403
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "g": 1
+      }
+    },
+    {
+      "id": "blue2",
+      "type": "BOX",
+      "pos": {
+        "x": 0.3,
+        "y": 0.3,
+        "z": 0.9355
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "g": 1
+      }
+    },
+    {
+      "id": "green1",
+      "type": "BOX",
+      "pos": {
+        "x": 0.1,
+        "y": -0.25,
+        "z": 0.9355
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "b": 1
+      }
+    },
+    {
+      "id": "green2",
+      "type": "BOX",
+      "pos": {
+        "x": 0.1,
+        "y": 0.2,
+        "z": 0.9307
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "b": 1
+      }
+    },
+    {
+      "id": "red1",
+      "type": "BOX",
+      "pos": {
+        "x": 0.3,
+        "y": -0.2,
+        "z": 0.9307
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1
+      }
+    },
+    {
+      "id": "red2",
+      "type": "BOX",
+      "pos": {
+        "x": 0.15,
+        "y": -0.15,
+        "z": 0.9307
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1
+      }
+    },
+    {
+      "id": "arm",
+      "type": "ARM",
+      "pos": {
+        "z": 0.89,
+        "x": -0.22
+      },
+      "size": {},
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1,
+        "g": 1,
+        "b": 1
+      }
+    }
+  ]
+}
diff --git a/config/config_scene_ga_st-table-2.yaml b/config/config_scene_ga_st-table-2.yaml
new file mode 100644
index 0000000..697075e
--- /dev/null
+++ b/config/config_scene_ga_st-table-2.yaml
@@ -0,0 +1,51 @@
+# create json file using
+# yq eval -o=json config_scene_ceti-table-1.yaml > config_scene_ceti-table-1.json
+{ 'objects': [
+  # table
+  # height: 12 cm wheels, 76 cm body, 1 cm table-top = 89 cm total
+  # wheels width/depth/height 12*12*12
+  # body width/depth/height 69*69*76
+  # table-top width/depth/height 80*80*1
+  # panels are 50*70, with 0.5 cm distance to the table-top
+  # height of both is 12 + 76 + .5 = 88.5
+  # their centre is at 40 + 0.25 + 25 = 65.25
+  { 'id': 'wheel_1','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_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 } },
+  # 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': '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
+  # 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': 'blue1','type': 'BOX','pos': { 'x': 0.20,'y': 0.05,'z': 0.940300 },'size': { 'length': 0.07,'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': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+  
+  { 'id': 'green1','type': 'BOX','pos': { 'x': 0.10,'y': -0.25,'z': 0.935500 },'size': { 'length': 0.07,'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': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+  
+  { 'id': 'red1','type': 'BOX','pos': { 'x': 0.30,'y': -0.20,'z': 0.930700 },'size': { 'length': 0.07,'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': 0.07,'width': 0.044,'height': 0.055 },'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': 'arm','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.22 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
+] }
diff --git a/config/config_scene_ga_st-table-3.json b/config/config_scene_ga_st-table-3.json
new file mode 100644
index 0000000..3560ff8
--- /dev/null
+++ b/config/config_scene_ga_st-table-3.json
@@ -0,0 +1,444 @@
+{
+  "objects": [
+    {
+      "id": "wheel_1",
+      "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_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_front",
+      "pos": {
+        "x": 0.345,
+        "z": 0.5
+      },
+      "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": -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": {
+        "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": "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
+      }
+    },
+    {
+      "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": "red1",
+      "type": "BOX",
+      "pos": {
+        "x": 0.2,
+        "y": 0.05,
+        "z": 0.9403
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "g": 1
+      }
+    },
+    {
+      "id": "red2",
+      "type": "BOX",
+      "pos": {
+        "x": 0.3,
+        "y": 0.3,
+        "z": 0.9355
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "g": 1
+      }
+    },
+    {
+      "id": "blue1",
+      "type": "BOX",
+      "pos": {
+        "x": 0.1,
+        "y": -0.25,
+        "z": 0.9355
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "b": 1
+      }
+    },
+    {
+      "id": "blue2",
+      "type": "BOX",
+      "pos": {
+        "x": 0.1,
+        "y": 0.2,
+        "z": 0.9307
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "b": 1
+      }
+    },
+    {
+      "id": "green1",
+      "type": "BOX",
+      "pos": {
+        "x": 0.3,
+        "y": -0.2,
+        "z": 0.9307
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1
+      }
+    },
+    {
+      "id": "green2",
+      "type": "BOX",
+      "pos": {
+        "x": 0.15,
+        "y": -0.15,
+        "z": 0.9307
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1
+      }
+    },
+    {
+      "id": "arm",
+      "type": "ARM",
+      "pos": {
+        "z": 0.89,
+        "x": -0.22
+      },
+      "size": {},
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1,
+        "g": 1,
+        "b": 1
+      }
+    }
+  ]
+}
diff --git a/config/config_scene_ga_st-table-3.yaml b/config/config_scene_ga_st-table-3.yaml
new file mode 100644
index 0000000..bbc1b76
--- /dev/null
+++ b/config/config_scene_ga_st-table-3.yaml
@@ -0,0 +1,51 @@
+# create json file using
+# yq eval -o=json config_scene_ceti-table-1.yaml > config_scene_ceti-table-1.json
+{ 'objects': [
+  # table
+  # height: 12 cm wheels, 76 cm body, 1 cm table-top = 89 cm total
+  # wheels width/depth/height 12*12*12
+  # body width/depth/height 69*69*76
+  # table-top width/depth/height 80*80*1
+  # panels are 50*70, with 0.5 cm distance to the table-top
+  # height of both is 12 + 76 + .5 = 88.5
+  # their centre is at 40 + 0.25 + 25 = 65.25
+  { 'id': 'wheel_1','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_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 } },
+  # 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': '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
+  # 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': 'red1','type': 'BOX','pos': { 'x': 0.20,'y': 0.05,'z': 0.940300 },'size': { 'length': 0.07,'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': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+  
+  { 'id': 'blue1','type': 'BOX','pos': { 'x': 0.10,'y': -0.25,'z': 0.935500 },'size': { 'length': 0.07,'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': 0.07,'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': 0.07,'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': 0.07,'width': 0.044,'height': 0.055 },'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': 'arm','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.22 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
+] }
diff --git a/config/config_scene_ga_tum-table-1-left.json b/config/config_scene_ga_tum-table-1-left.json
new file mode 100644
index 0000000..7781ca4
--- /dev/null
+++ b/config/config_scene_ga_tum-table-1-left.json
@@ -0,0 +1,385 @@
+{
+  "objects": [
+    {
+      "id": "wheel_1",
+      "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_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_front",
+      "pos": {
+        "x": 0.345,
+        "z": 0.5
+      },
+      "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": -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": {
+        "w": 1
+      },
+      "color": {
+        "r": 0.15,
+        "g": 0.15,
+        "b": 0.15
+      }
+    },
+    {
+      "id": "table-top",
+      "pos": {
+        "z": 0.885
+      },
+      "size": {
+        "length": 0.966,
+        "width": 1.011,
+        "height": 0.01
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 0.15,
+        "g": 0.15,
+        "b": 0.15
+      }
+    },
+    {
+      "id": "binBlue",
+      "type": "BIN",
+      "pos": {
+        "x": -0.355,
+        "y": -0.365,
+        "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": -0.155,
+        "y": -0.365,
+        "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": 0.045,
+        "y": -0.365,
+        "z": 0.9675
+      },
+      "size": {
+        "length": 0.19,
+        "width": 0.285,
+        "height": 0.155
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "g": 1
+      }
+    },
+    {
+      "id": "green1",
+      "type": "BOX",
+      "pos": {
+        "x": 0.2,
+        "y": 0,
+        "z": 0.9403
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "g": 1
+      }
+    },
+    {
+      "id": "green2",
+      "type": "BOX",
+      "pos": {
+        "x": 0.3,
+        "y": 0.3,
+        "z": 0.9355
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "g": 1
+      }
+    },
+    {
+      "id": "blue1",
+      "type": "BOX",
+      "pos": {
+        "x": 0.3,
+        "y": 0.15,
+        "z": 0.9355
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "b": 1
+      }
+    },
+    {
+      "id": "blue2",
+      "type": "BOX",
+      "pos": {
+        "x": 0.1,
+        "y": 0.2,
+        "z": 0.9307
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "b": 1
+      }
+    },
+    {
+      "id": "red1",
+      "type": "BOX",
+      "pos": {
+        "x": 0.3,
+        "y": -0.15,
+        "z": 0.9307
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1
+      }
+    },
+    {
+      "id": "red2",
+      "type": "BOX",
+      "pos": {
+        "x": 0.15,
+        "y": 0.45,
+        "z": 0.9307
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1
+      }
+    },
+    {
+      "id": "arm",
+      "type": "ARM",
+      "pos": {
+        "z": 0.89,
+        "x": -0.2,
+        "y": 0.24
+      },
+      "size": {},
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1,
+        "g": 1,
+        "b": 1
+      }
+    }
+  ]
+}
diff --git a/config/config_scene_ga_tum-table-1-left.yaml b/config/config_scene_ga_tum-table-1-left.yaml
new file mode 100644
index 0000000..1368b87
--- /dev/null
+++ b/config/config_scene_ga_tum-table-1-left.yaml
@@ -0,0 +1,48 @@
+# create json file using
+# yq eval -o=json config_scene_ceti-table-1.yaml > config_scene_ceti-table-1.json
+{ 'objects': [
+  # table
+  # height: 12 cm wheels, 76 cm body, 1 cm table-top = 89 cm total
+  # wheels width/depth/height 12*12*12
+  # body width/depth/height 69*69*76
+  # table-top width/depth/height 80*80*1
+  # panels are 50*70, with 0.5 cm distance to the table-top
+  # height of both is 12 + 76 + .5 = 88.5
+  # their centre is at 40 + 0.25 + 25 = 65.25
+  { 'id': 'wheel_1','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_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 } },
+  # 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': 0.966,'width': 1.011,'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
+  # 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': -0.355,'y': -0.365,'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': -0.155,'y': -0.365,'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': 0.045,'y': -0.365,'z': 0.9675 },'size': { 'length': 0.19,'width': 0.285,'height': 0.155 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+
+  { 'id': 'green1','type': 'BOX','pos': { 'x': 0.20,'y': 0.0,'z': 0.940300 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+  { 'id': 'green2','type': 'BOX','pos': { 'x': 0.30,'y': 0.30,'z': 0.935500 },'size': { 'length': 0.07,'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': 0.07,'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': 0.07,'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': 0.07,'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': 0.07,'width': 0.044,'height': 0.055 },'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': '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 } }
+] }
diff --git a/config/config_scene_ga_tum-table-1-right.json b/config/config_scene_ga_tum-table-1-right.json
new file mode 100644
index 0000000..316692b
--- /dev/null
+++ b/config/config_scene_ga_tum-table-1-right.json
@@ -0,0 +1,385 @@
+{
+  "objects": [
+    {
+      "id": "wheel_1",
+      "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_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_front",
+      "pos": {
+        "x": 0.345,
+        "z": 0.5
+      },
+      "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": -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": {
+        "w": 1
+      },
+      "color": {
+        "r": 0.15,
+        "g": 0.15,
+        "b": 0.15
+      }
+    },
+    {
+      "id": "table-top",
+      "pos": {
+        "z": 0.885
+      },
+      "size": {
+        "length": 0.966,
+        "width": 1.011,
+        "height": 0.01
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 0.15,
+        "g": 0.15,
+        "b": 0.15
+      }
+    },
+    {
+      "id": "binBlue",
+      "type": "BIN",
+      "pos": {
+        "x": -0.355,
+        "y": 0.365,
+        "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": -0.155,
+        "y": 0.365,
+        "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": 0.045,
+        "y": 0.365,
+        "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": 0.2,
+        "y": 0,
+        "z": 0.9403
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "b": 1
+      }
+    },
+    {
+      "id": "blue2",
+      "type": "BOX",
+      "pos": {
+        "x": 0.3,
+        "y": -0.3,
+        "z": 0.9355
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "b": 1
+      }
+    },
+    {
+      "id": "green1",
+      "type": "BOX",
+      "pos": {
+        "x": 0.3,
+        "y": -0.15,
+        "z": 0.9355
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "g": 1
+      }
+    },
+    {
+      "id": "red2",
+      "type": "BOX",
+      "pos": {
+        "x": 0.1,
+        "y": -0.2,
+        "z": 0.9307
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1
+      }
+    },
+    {
+      "id": "red1",
+      "type": "BOX",
+      "pos": {
+        "x": 0.3,
+        "y": 0.15,
+        "z": 0.9307
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1
+      }
+    },
+    {
+      "id": "green2",
+      "type": "BOX",
+      "pos": {
+        "x": 0.15,
+        "y": -0.45,
+        "z": 0.9307
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "g": 1
+      }
+    },
+    {
+      "id": "arm",
+      "type": "ARM",
+      "pos": {
+        "z": 0.89,
+        "x": -0.2,
+        "y": -0.24
+      },
+      "size": {},
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1,
+        "g": 1,
+        "b": 1
+      }
+    }
+  ]
+}
diff --git a/config/config_scene_ga_tum-table-1-right.yaml b/config/config_scene_ga_tum-table-1-right.yaml
new file mode 100644
index 0000000..7f55b6a
--- /dev/null
+++ b/config/config_scene_ga_tum-table-1-right.yaml
@@ -0,0 +1,48 @@
+# create json file using
+# yq eval -o=json config_scene_ceti-table-1.yaml > config_scene_ceti-table-1.json
+{ 'objects': [
+  # table
+  # height: 12 cm wheels, 76 cm body, 1 cm table-top = 89 cm total
+  # wheels width/depth/height 12*12*12
+  # body width/depth/height 69*69*76
+  # table-top width/depth/height 80*80*1
+  # panels are 50*70, with 0.5 cm distance to the table-top
+  # height of both is 12 + 76 + .5 = 88.5
+  # their centre is at 40 + 0.25 + 25 = 65.25
+  { 'id': 'wheel_1','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_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 } },
+  # 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': 0.966,'width': 1.011,'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
+  # 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': -0.355,'y': 0.365,'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': -0.155,'y': 0.365,'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': 0.045,'y': 0.365,'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': 0.0,'z': 0.940300 },'size': { 'length': 0.07,'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': 0.07,'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': 0.07,'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': 0.07,'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': 0.07,'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': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 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': '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 } }
+] }
diff --git a/config/config_scene_ga_tum-table-2-left.json b/config/config_scene_ga_tum-table-2-left.json
new file mode 100644
index 0000000..dce466c
--- /dev/null
+++ b/config/config_scene_ga_tum-table-2-left.json
@@ -0,0 +1,385 @@
+{
+  "objects": [
+    {
+      "id": "wheel_1",
+      "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_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_front",
+      "pos": {
+        "x": 0.345,
+        "z": 0.5
+      },
+      "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": -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": {
+        "w": 1
+      },
+      "color": {
+        "r": 0.15,
+        "g": 0.15,
+        "b": 0.15
+      }
+    },
+    {
+      "id": "table-top",
+      "pos": {
+        "z": 0.885
+      },
+      "size": {
+        "length": 0.966,
+        "width": 1.011,
+        "height": 0.01
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 0.15,
+        "g": 0.15,
+        "b": 0.15
+      }
+    },
+    {
+      "id": "binBlue",
+      "type": "BIN",
+      "pos": {
+        "x": -0.355,
+        "y": -0.365,
+        "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": -0.155,
+        "y": -0.365,
+        "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": 0.045,
+        "y": -0.365,
+        "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": 0.2,
+        "y": 0,
+        "z": 0.9403
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "b": 1
+      }
+    },
+    {
+      "id": "blue2",
+      "type": "BOX",
+      "pos": {
+        "x": 0.3,
+        "y": 0.3,
+        "z": 0.9355
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "b": 1
+      }
+    },
+    {
+      "id": "red1",
+      "type": "BOX",
+      "pos": {
+        "x": 0.3,
+        "y": 0.15,
+        "z": 0.9355
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1
+      }
+    },
+    {
+      "id": "red2",
+      "type": "BOX",
+      "pos": {
+        "x": 0.1,
+        "y": 0.2,
+        "z": 0.9307
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1
+      }
+    },
+    {
+      "id": "green1",
+      "type": "BOX",
+      "pos": {
+        "x": 0.3,
+        "y": -0.15,
+        "z": 0.9307
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "g": 1
+      }
+    },
+    {
+      "id": "green2",
+      "type": "BOX",
+      "pos": {
+        "x": 0.15,
+        "y": 0.45,
+        "z": 0.9307
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "g": 1
+      }
+    },
+    {
+      "id": "arm",
+      "type": "ARM",
+      "pos": {
+        "z": 0.89,
+        "x": -0.2,
+        "y": 0.24
+      },
+      "size": {},
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1,
+        "g": 1,
+        "b": 1
+      }
+    }
+  ]
+}
diff --git a/config/config_scene_ga_tum-table-2-left.yaml b/config/config_scene_ga_tum-table-2-left.yaml
new file mode 100644
index 0000000..c802429
--- /dev/null
+++ b/config/config_scene_ga_tum-table-2-left.yaml
@@ -0,0 +1,48 @@
+# create json file using
+# yq eval -o=json config_scene_ceti-table-1.yaml > config_scene_ceti-table-1.json
+{ 'objects': [
+  # table
+  # height: 12 cm wheels, 76 cm body, 1 cm table-top = 89 cm total
+  # wheels width/depth/height 12*12*12
+  # body width/depth/height 69*69*76
+  # table-top width/depth/height 80*80*1
+  # panels are 50*70, with 0.5 cm distance to the table-top
+  # height of both is 12 + 76 + .5 = 88.5
+  # their centre is at 40 + 0.25 + 25 = 65.25
+  { 'id': 'wheel_1','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_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 } },
+  # 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': 0.966,'width': 1.011,'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
+  # 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': -0.355,'y': -0.365,'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': -0.155,'y': -0.365,'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': 0.045,'y': -0.365,'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': 0.0,'z': 0.940300 },'size': { 'length': 0.07,'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': 0.07,'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': 0.07,'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': 0.07,'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': 0.07,'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': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 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': '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 } }
+] }
diff --git a/config/config_scene_ga_tum-table-2-right.json b/config/config_scene_ga_tum-table-2-right.json
new file mode 100644
index 0000000..fc54387
--- /dev/null
+++ b/config/config_scene_ga_tum-table-2-right.json
@@ -0,0 +1,385 @@
+{
+  "objects": [
+    {
+      "id": "wheel_1",
+      "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_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_front",
+      "pos": {
+        "x": 0.345,
+        "z": 0.5
+      },
+      "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": -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": {
+        "w": 1
+      },
+      "color": {
+        "r": 0.15,
+        "g": 0.15,
+        "b": 0.15
+      }
+    },
+    {
+      "id": "table-top",
+      "pos": {
+        "z": 0.885
+      },
+      "size": {
+        "length": 0.966,
+        "width": 1.011,
+        "height": 0.01
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 0.15,
+        "g": 0.15,
+        "b": 0.15
+      }
+    },
+    {
+      "id": "binBlue",
+      "type": "BIN",
+      "pos": {
+        "x": -0.355,
+        "y": 0.365,
+        "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": -0.155,
+        "y": 0.365,
+        "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": 0.045,
+        "y": 0.365,
+        "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": 0.2,
+        "y": 0,
+        "z": 0.9403
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1
+      }
+    },
+    {
+      "id": "green1",
+      "type": "BOX",
+      "pos": {
+        "x": 0.3,
+        "y": -0.3,
+        "z": 0.9355
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "g": 1
+      }
+    },
+    {
+      "id": "blue2",
+      "type": "BOX",
+      "pos": {
+        "x": 0.3,
+        "y": -0.15,
+        "z": 0.9355
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "b": 1
+      }
+    },
+    {
+      "id": "red2",
+      "type": "BOX",
+      "pos": {
+        "x": 0.1,
+        "y": -0.2,
+        "z": 0.9307
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1
+      }
+    },
+    {
+      "id": "green2",
+      "type": "BOX",
+      "pos": {
+        "x": 0.3,
+        "y": 0.15,
+        "z": 0.9307
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "g": 1
+      }
+    },
+    {
+      "id": "red2",
+      "type": "BOX",
+      "pos": {
+        "x": 0.15,
+        "y": -0.45,
+        "z": 0.9307
+      },
+      "size": {
+        "length": 0.07,
+        "width": 0.044,
+        "height": 0.055
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1
+      }
+    },
+    {
+      "id": "arm",
+      "type": "ARM",
+      "pos": {
+        "z": 0.89,
+        "x": -0.2,
+        "y": -0.24
+      },
+      "size": {},
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1,
+        "g": 1,
+        "b": 1
+      }
+    }
+  ]
+}
diff --git a/config/config_scene_ga_tum-table-2-right.yaml b/config/config_scene_ga_tum-table-2-right.yaml
new file mode 100644
index 0000000..9beca37
--- /dev/null
+++ b/config/config_scene_ga_tum-table-2-right.yaml
@@ -0,0 +1,48 @@
+# create json file using
+# yq eval -o=json config_scene_ceti-table-1.yaml > config_scene_ceti-table-1.json
+{ 'objects': [
+  # table
+  # height: 12 cm wheels, 76 cm body, 1 cm table-top = 89 cm total
+  # wheels width/depth/height 12*12*12
+  # body width/depth/height 69*69*76
+  # table-top width/depth/height 80*80*1
+  # panels are 50*70, with 0.5 cm distance to the table-top
+  # height of both is 12 + 76 + .5 = 88.5
+  # their centre is at 40 + 0.25 + 25 = 65.25
+  { 'id': 'wheel_1','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_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 } },
+  # 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': 0.966,'width': 1.011,'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
+  # 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': -0.355,'y': 0.365,'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': -0.155,'y': 0.365,'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': 0.045,'y': 0.365,'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': 0.0,'z': 0.940300 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+  { 'id': 'green1','type': 'BOX','pos': { 'x': 0.30,'y': -0.30,'z': 0.935500 },'size': { 'length': 0.07,'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': 0.07,'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': 0.07,'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': 0.07,'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': 0.07,'width': 0.044,'height': 0.055 },'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': '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 } }
+] }
diff --git a/config/config_scene_virtual-table.json b/config/config_scene_virtual-table.json
index 1025e77..fb19956 100644
--- a/config/config_scene_virtual-table.json
+++ b/config/config_scene_virtual-table.json
@@ -80,7 +80,7 @@
       }
     },
     {
-      "id": "bigBlue",
+      "id": "blue1",
       "type": "BOX",
       "pos": {
         "x": 0.2,
@@ -89,8 +89,8 @@
       },
       "size": {
         "length": 0.1,
-        "width": 0.16,
-        "height": 0.16
+        "width": 0.08,
+        "height": 0.08
       },
       "orientation": {
         "w": 1
@@ -100,7 +100,7 @@
       }
     },
     {
-      "id": "bigGreen",
+      "id": "blue2",
       "type": "BOX",
       "pos": {
         "x": 0.2,
@@ -109,18 +109,18 @@
       },
       "size": {
         "length": 0.1,
-        "width": 0.16,
-        "height": 0.16
+        "width": 0.08,
+        "height": 0.08
       },
       "orientation": {
         "w": 1
       },
       "color": {
-        "g": 0.5
+        "b": 0.5
       }
     },
     {
-      "id": "bigRed",
+      "id": "green1",
       "type": "BOX",
       "pos": {
         "x": 0.2,
@@ -129,39 +129,18 @@
       },
       "size": {
         "length": 0.1,
-        "width": 0.16,
-        "height": 0.16
-      },
-      "orientation": {
-        "w": 1
-      },
-      "color": {
-        "r": 0.5
-      }
-    },
-    {
-      "id": "bigYellow",
-      "type": "BOX",
-      "pos": {
-        "x": 0.2,
-        "y": 0.3,
-        "z": 0.58
-      },
-      "size": {
-        "length": 0.1,
-        "width": 0.16,
-        "height": 0.16
+        "width": 0.08,
+        "height": 0.08
       },
       "orientation": {
         "w": 1
       },
       "color": {
-        "r": 0.5,
         "g": 0.5
       }
     },
     {
-      "id": "smallBlue",
+      "id": "green2",
       "type": "BOX",
       "pos": {
         "x": 0.4,
@@ -177,11 +156,11 @@
         "w": 1
       },
       "color": {
-        "b": 0.5
+        "g": 0.5
       }
     },
     {
-      "id": "smallGreen",
+      "id": "red1",
       "type": "BOX",
       "pos": {
         "x": 0.4,
@@ -197,11 +176,11 @@
         "w": 1
       },
       "color": {
-        "g": 0.5
+        "r": 0.5
       }
     },
     {
-      "id": "smallRed",
+      "id": "red2",
       "type": "BOX",
       "pos": {
         "x": 0.4,
@@ -220,27 +199,6 @@
         "r": 0.5
       }
     },
-    {
-      "id": "smallYellow",
-      "type": "BOX",
-      "pos": {
-        "x": 0.4,
-        "y": 0.4,
-        "z": 0.54
-      },
-      "size": {
-        "length": 0.1,
-        "width": 0.08,
-        "height": 0.08
-      },
-      "orientation": {
-        "w": 1
-      },
-      "color": {
-        "r": 0.5,
-        "g": 0.5
-      }
-    },
     {
       "id": "arm",
       "type": "ARM",
diff --git a/config/config_scene_virtual-table.yaml b/config/config_scene_virtual-table.yaml
index 642d9e2..46c79ac 100644
--- a/config/config_scene_virtual-table.yaml
+++ b/config/config_scene_virtual-table.yaml
@@ -11,15 +11,14 @@
   { 'id': 'binGreen',  'type': 'BIN','pos': { 'x': -0.35,'y': 0,'z': 0.65 },'size': { 'length': 0.20,'width': 0.4,'height': 0.3 },'orientation': { 'w': 1 },'color': { 'g': 0.5 } },
   { 'id': 'binRed','type': 'BIN','pos': { 'x': -0.35,'y': 0.60,'z': 0.65 },'size': { 'length': 0.20,'width': 0.4,'height': 0.3 },'orientation': { 'w': 1 },'color': { 'r': 0.5 } },
 
-  { 'id': 'bigBlue',  'type': 'BOX','pos': { 'x': 0.2,'y': -0.300000,'z': 0.58 },'size': { 'length': .1, 'width': .16,'height': 0.16 },'orientation': { 'w': 1 },'color': { 'b': 0.5 } },
-  { 'id': 'bigGreen', 'type': 'BOX','pos': { 'x': 0.2,'y': -0.100000,'z': 0.58 },'size': { 'length': .1, 'width': .16,'height': 0.16 },'orientation': { 'w': 1 },'color': { 'g': 0.5 } },
-  { 'id': 'bigRed',   'type': 'BOX','pos': { 'x': 0.2,'y': 0.100000, 'z': 0.58 },'size': { 'length': .1, 'width': .16,'height': 0.16 },'orientation': { 'w': 1 },'color': { 'r': 0.5 } },
-  { 'id': 'bigYellow','type': 'BOX','pos': { 'x': 0.2,'y': 0.300000, 'z': 0.58 },'size': { 'length': .1, 'width': .16,'height': 0.16 },'orientation': { 'w': 1 },'color': { 'r': 0.5, 'g': 0.5 } },
-
-  { 'id': 'smallBlue',  'type': 'BOX','pos': { 'x': 0.4,'y': -0.200000,'z': 0.54 },'size': { 'length': .1, 'width': .08,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'b': 0.5 } },
-  { 'id': 'smallGreen', 'type': 'BOX','pos': { 'x': 0.4,'y': 0.000000, 'z': 0.54 },'size': { 'length': .1, 'width': .08,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'g': 0.5 } },
-  { 'id': 'smallRed',   'type': 'BOX','pos': { 'x': 0.4,'y': 0.200000, 'z': 0.54 },'size': { 'length': .1, 'width': .08,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'r': 0.5 } },
-  { 'id': 'smallYellow','type': 'BOX','pos': { 'x': 0.4,'y': 0.400000, 'z': 0.54 },'size': { 'length': .1, 'width': .08,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'r': 0.5, 'g': 0.5 } },
+  { 'id': 'blue1',  'type': 'BOX','pos': { 'x': 0.2,'y': -0.300000,'z': 0.58 },'size': { 'length': .1, 'width': .08,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'b': 0.5 } },
+  { 'id': 'blue2', 'type': 'BOX','pos': { 'x': 0.2,'y': -0.100000,'z': 0.58 },'size': { 'length': .1, 'width': .08,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'b': 0.5 } },
+  
+  { 'id': 'green1',   'type': 'BOX','pos': { 'x': 0.2,'y': 0.100000, 'z': 0.58 },'size': { 'length': .1, 'width': .08,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'g': 0.5 } },
+  { 'id': 'green2',  'type': 'BOX','pos': { 'x': 0.4,'y': -0.200000,'z': 0.54 },'size': { 'length': .1, 'width': .08,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'g': 0.5 } },
+  
+  { 'id': 'red1', 'type': 'BOX','pos': { 'x': 0.4,'y': 0.000000, 'z': 0.54 },'size': { 'length': .1, 'width': .08,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'r': 0.5 } },
+  { 'id': 'red2',   'type': 'BOX','pos': { 'x': 0.4,'y': 0.200000, 'z': 0.54 },'size': { 'length': .1, 'width': .08,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'r': 0.5 } },
 
   { 'id': 'arm','type': 'ARM','pos': { },'size': { },'orientation': { 'w': 1 },'color': { } }
 ] }
diff --git a/config_scene_virtual-table.json b/config_scene_virtual-table.json
new file mode 100644
index 0000000..db2edbf
--- /dev/null
+++ b/config_scene_virtual-table.json
@@ -0,0 +1,54 @@
+Usage:
+  yq eval [expression] [yaml_file1]... [flags]
+
+Aliases:
+  eval, e
+
+Examples:
+
+# Reads field under the given path for each file
+yq e '.a.b' f1.yml f2.yml 
+
+# Prints out the file
+yq e sample.yaml 
+
+# Pipe from STDIN
+## use '-' as a filename to pipe from STDIN
+cat file2.yml | yq e '.a.b' file1.yml - file3.yml
+
+# Creates a new yaml document
+## Note that editing an empty file does not work.
+yq e -n '.a.b.c = "cat"' 
+
+# Update a file inplace
+yq e '.a.b = "cool"' -i file.yaml 
+
+
+Flags:
+  -h, --help   help for eval
+
+Global Flags:
+  -C, --colors                        force print with colors
+  -e, --exit-status                   set exit status if there are no matches or null or false is returned
+      --expression string             forcibly set the expression argument. Useful when yq argument detection thinks your expression is a file.
+      --from-file string              Load expression from specified file.
+  -f, --front-matter string           (extract|process) first input as yaml front-matter. Extract will pull out the yaml content, process will run the expression against the yaml content, leaving the remaining data intact
+      --header-preprocess             Slurp any header comments and separators before processing expression. (default true)
+  -I, --indent int                    sets indent level for output (default 2)
+  -i, --inplace                       update the file inplace of first file given.
+  -p, --input-format string           [yaml|y|props|p|xml|x] parse format for input. Note that json is a subset of yaml. (default "yaml")
+  -M, --no-colors                     force print with no colors
+  -N, --no-doc                        Don't print document separators (---)
+  -n, --null-input                    Don't read input, simply evaluate the expression given. Useful for creating docs from scratch.
+  -o, --output-format string          [yaml|y|json|j|props|p|xml|x] output format type. (default "yaml")
+  -P, --prettyPrint                   pretty print, shorthand for '... style = ""'
+  -s, --split-exp string              print each result (or doc) into a file named (exp). [exp] argument must return a string. You can use $index in the expression as the result counter.
+      --split-exp-file string         Use a file to specify the split-exp expression.
+  -r, --unwrapScalar                  unwrap scalar, print the value with no quotes, colors or comments (default true)
+  -v, --verbose                       verbose mode
+      --xml-attribute-prefix string   prefix for xml attributes (default "+")
+      --xml-content-name string       name for xml content (if no attribute name is present). (default "+content")
+      --xml-keep-namespace            enables keeping namespace after parsing attributes (default true)
+      --xml-raw-token                 enables using RawToken method instead Token. Commonly disables namespace translations. See https://pkg.go.dev/encoding/xml#Decoder.RawToken for details. (default true)
+      --xml-strict-mode               enables strict parsing of XML. See https://pkg.go.dev/encoding/xml for more details.
+
diff --git a/launch/main_controller_virtual_preview_ceti-table-1_real_robot.launch b/launch/main_controller_virtual_preview_ceti-table-1_real_robot.launch
index 4690e77..c21e544 100644
--- a/launch/main_controller_virtual_preview_ceti-table-1_real_robot.launch
+++ b/launch/main_controller_virtual_preview_ceti-table-1_real_robot.launch
@@ -2,7 +2,7 @@
 
     <arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/>
     <arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/>
-    <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ads-cell', 'st-cell']" doc="potential client cell names"/>
+    <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ceti_cell_3', 'ceti_cell_4', 'ceti_cell_5', 'ceti_cell_6', 'ceti_cell_7', 'ads-cell', 'st-cell']" doc="potential client cell names"/>
     <arg name="robot_ip" default="172.31.1.13" doc="robot IP used by the robot controller"/>
 
     <include file="$(find ccf_immersive_sorting)/launch/main_controller_virtual_preview.launch" pass_all_args="true"/>
diff --git a/launch/main_controller_virtual_preview_ceti-table-2_real_robot.launch b/launch/main_controller_virtual_preview_ceti-table-2_real_robot.launch
index 05057aa..05ab91b 100644
--- a/launch/main_controller_virtual_preview_ceti-table-2_real_robot.launch
+++ b/launch/main_controller_virtual_preview_ceti-table-2_real_robot.launch
@@ -2,7 +2,7 @@
 
     <arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/>
     <arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/>
-    <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ads-cell', 'st-cell']" doc="potential client cell names"/>
+    <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ceti_cell_3', 'ceti_cell_4', 'ceti_cell_5', 'ceti_cell_6', 'ceti_cell_7', 'ads-cell', 'st-cell']" doc="potential client cell names"/>
     <arg name="robot_ip" default="172.31.1.13" doc="robot IP used by the robot controller"/>
 
     <include file="$(find ccf_immersive_sorting)/launch/main_controller_virtual_preview.launch" pass_all_args="true"/>
diff --git a/launch/main_controller_virtual_preview_ceti-table-3_real_robot.launch b/launch/main_controller_virtual_preview_ceti-table-3_real_robot.launch
new file mode 100644
index 0000000..28ab8a6
--- /dev/null
+++ b/launch/main_controller_virtual_preview_ceti-table-3_real_robot.launch
@@ -0,0 +1,12 @@
+<launch>
+
+    <arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/>
+    <arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/>
+    <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ceti_cell_3', 'ceti_cell_4', 'ceti_cell_5', 'ceti_cell_6', 'ceti_cell_7', 'ads-cell', 'st-cell']" doc="potential client cell names"/>
+    <arg name="robot_ip" default="172.31.1.13" doc="robot IP used by the robot controller"/>
+
+    <include file="$(find ccf_immersive_sorting)/launch/main_controller_virtual_preview.launch" pass_all_args="true"/>
+
+    <include file="$(find ccf_immersive_sorting)/launch/robot-cell_ceti-table-3.launch" pass_all_args="true"/>
+
+</launch>
diff --git a/launch/main_controller_virtual_preview_ceti-table-4_real_robot.launch b/launch/main_controller_virtual_preview_ceti-table-4_real_robot.launch
new file mode 100644
index 0000000..99b1bf4
--- /dev/null
+++ b/launch/main_controller_virtual_preview_ceti-table-4_real_robot.launch
@@ -0,0 +1,12 @@
+<launch>
+
+    <arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/>
+    <arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/>
+    <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ceti_cell_3', 'ceti_cell_4', 'ceti_cell_5', 'ceti_cell_6', 'ceti_cell_7', 'ads-cell', 'st-cell']" doc="potential client cell names"/>
+    <arg name="robot_ip" default="172.31.1.13" doc="robot IP used by the robot controller"/>
+
+    <include file="$(find ccf_immersive_sorting)/launch/main_controller_virtual_preview.launch" pass_all_args="true"/>
+
+    <include file="$(find ccf_immersive_sorting)/launch/robot-cell_ceti-table-4.launch" pass_all_args="true"/>
+
+</launch>
diff --git a/launch/main_controller_virtual_preview_ceti-table-5_real_robot.launch b/launch/main_controller_virtual_preview_ceti-table-5_real_robot.launch
new file mode 100644
index 0000000..13d978f
--- /dev/null
+++ b/launch/main_controller_virtual_preview_ceti-table-5_real_robot.launch
@@ -0,0 +1,12 @@
+<launch>
+
+    <arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/>
+    <arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/>
+    <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ceti_cell_3', 'ceti_cell_4', 'ceti_cell_5', 'ceti_cell_6', 'ceti_cell_7', 'ads-cell', 'st-cell']" doc="potential client cell names"/>
+    <arg name="robot_ip" default="172.31.1.13" doc="robot IP used by the robot controller"/>
+
+    <include file="$(find ccf_immersive_sorting)/launch/main_controller_virtual_preview.launch" pass_all_args="true"/>
+
+    <include file="$(find ccf_immersive_sorting)/launch/robot-cell_ceti-table-5.launch" pass_all_args="true"/>
+
+</launch>
diff --git a/launch/main_controller_virtual_preview_ceti-table-6_real_robot.launch b/launch/main_controller_virtual_preview_ceti-table-6_real_robot.launch
new file mode 100644
index 0000000..42e32f6
--- /dev/null
+++ b/launch/main_controller_virtual_preview_ceti-table-6_real_robot.launch
@@ -0,0 +1,12 @@
+<launch>
+
+    <arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/>
+    <arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/>
+    <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ceti_cell_3', 'ceti_cell_4', 'ceti_cell_5', 'ceti_cell_6', 'ceti_cell_7', 'ads-cell', 'st-cell']" doc="potential client cell names"/>
+    <arg name="robot_ip" default="172.31.1.13" doc="robot IP used by the robot controller"/>
+
+    <include file="$(find ccf_immersive_sorting)/launch/main_controller_virtual_preview.launch" pass_all_args="true"/>
+
+    <include file="$(find ccf_immersive_sorting)/launch/robot-cell_ceti-table-6.launch" pass_all_args="true"/>
+
+</launch>
diff --git a/launch/main_controller_virtual_preview_ceti-table-7_real_robot.launch b/launch/main_controller_virtual_preview_ceti-table-7_real_robot.launch
new file mode 100644
index 0000000..ef91852
--- /dev/null
+++ b/launch/main_controller_virtual_preview_ceti-table-7_real_robot.launch
@@ -0,0 +1,12 @@
+<launch>
+
+    <arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/>
+    <arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/>
+    <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ceti_cell_3', 'ceti_cell_4', 'ceti_cell_5', 'ceti_cell_6', 'ceti_cell_7', 'ads-cell', 'st-cell']" doc="potential client cell names"/>
+    <arg name="robot_ip" default="172.31.1.13" doc="robot IP used by the robot controller"/>
+
+    <include file="$(find ccf_immersive_sorting)/launch/main_controller_virtual_preview.launch" pass_all_args="true"/>
+
+    <include file="$(find ccf_immersive_sorting)/launch/robot-cell_ceti-table-7.launch" pass_all_args="true"/>
+
+</launch>
diff --git a/launch/robot-cell_ceti-table-1.launch b/launch/robot-cell_ceti-table-1.launch
index 2737a46..fd1a102 100644
--- a/launch/robot-cell_ceti-table-1.launch
+++ b/launch/robot-cell_ceti-table-1.launch
@@ -13,7 +13,7 @@
 
     <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_1" output="screen">
         <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
-        <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1.json"/>
+        <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ga_st-table-1.json"/>
     </node>
 
 </launch>
diff --git a/launch/robot-cell_ceti-table-2.launch b/launch/robot-cell_ceti-table-2.launch
index 6221ee3..8ba3adf 100644
--- a/launch/robot-cell_ceti-table-2.launch
+++ b/launch/robot-cell_ceti-table-2.launch
@@ -13,7 +13,7 @@
 
     <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_2" output="screen">
         <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
-        <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-2.json"/>
+        <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ga_st-table-2.json"/>
     </node>
 
 </launch>
diff --git a/launch/robot-cell_ceti-table-3.launch b/launch/robot-cell_ceti-table-3.launch
new file mode 100644
index 0000000..0d5fa0a
--- /dev/null
+++ b/launch/robot-cell_ceti-table-3.launch
@@ -0,0 +1,19 @@
+<launch>
+
+    <!-- MQTT server for communication with client cells -->
+    <arg name="mqtt_server" default="tcp://192.168.0.122:1883" doc="address of the mqtt server for the connection to the controller"/>
+
+    <!-- robot IP used by the robot controller -->
+    <arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/>
+
+    <include file="$(find ccf)/launch/robot_setup.launch">
+        <arg name="robot_ip" value="$(arg robot_ip)"/>
+        <arg name="load_gripper" value="true"/>
+    </include>
+
+    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_3" output="screen">
+        <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
+        <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ga_st-table-3.json"/>
+    </node>
+
+</launch>
diff --git a/launch/robot-cell_ceti-table-4.launch b/launch/robot-cell_ceti-table-4.launch
new file mode 100644
index 0000000..e587ff2
--- /dev/null
+++ b/launch/robot-cell_ceti-table-4.launch
@@ -0,0 +1,19 @@
+<launch>
+
+    <!-- MQTT server for communication with client cells -->
+    <arg name="mqtt_server" default="tcp://192.168.0.122:1883" doc="address of the mqtt server for the connection to the controller"/>
+
+    <!-- robot IP used by the robot controller -->
+    <arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/>
+
+    <include file="$(find ccf)/launch/robot_setup.launch">
+        <arg name="robot_ip" value="$(arg robot_ip)"/>
+        <arg name="load_gripper" value="true"/>
+    </include>
+
+    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_4" output="screen">
+        <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
+        <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ga_tum-table-1-left.json"/>
+    </node>
+
+</launch>
diff --git a/launch/robot-cell_ceti-table-5.launch b/launch/robot-cell_ceti-table-5.launch
new file mode 100644
index 0000000..a7e8852
--- /dev/null
+++ b/launch/robot-cell_ceti-table-5.launch
@@ -0,0 +1,19 @@
+<launch>
+
+    <!-- MQTT server for communication with client cells -->
+    <arg name="mqtt_server" default="tcp://192.168.0.122:1883" doc="address of the mqtt server for the connection to the controller"/>
+
+    <!-- robot IP used by the robot controller -->
+    <arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/>
+
+    <include file="$(find ccf)/launch/robot_setup.launch">
+        <arg name="robot_ip" value="$(arg robot_ip)"/>
+        <arg name="load_gripper" value="true"/>
+    </include>
+
+    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_5" output="screen">
+        <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
+        <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ga_tum-table-1-right.json"/>
+    </node>
+
+</launch>
diff --git a/launch/robot-cell_ceti-table-6.launch b/launch/robot-cell_ceti-table-6.launch
new file mode 100644
index 0000000..e8919ed
--- /dev/null
+++ b/launch/robot-cell_ceti-table-6.launch
@@ -0,0 +1,19 @@
+<launch>
+
+    <!-- MQTT server for communication with client cells -->
+    <arg name="mqtt_server" default="tcp://192.168.0.122:1883" doc="address of the mqtt server for the connection to the controller"/>
+
+    <!-- robot IP used by the robot controller -->
+    <arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/>
+
+    <include file="$(find ccf)/launch/robot_setup.launch">
+        <arg name="robot_ip" value="$(arg robot_ip)"/>
+        <arg name="load_gripper" value="true"/>
+    </include>
+
+    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_6" output="screen">
+        <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
+        <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ga_tum-table-2-left.json"/>
+    </node>
+
+</launch>
diff --git a/launch/robot-cell_ceti-table-7.launch b/launch/robot-cell_ceti-table-7.launch
new file mode 100644
index 0000000..c6d572a
--- /dev/null
+++ b/launch/robot-cell_ceti-table-7.launch
@@ -0,0 +1,19 @@
+<launch>
+
+    <!-- MQTT server for communication with client cells -->
+    <arg name="mqtt_server" default="tcp://192.168.0.122:1883" doc="address of the mqtt server for the connection to the controller"/>
+
+    <!-- robot IP used by the robot controller -->
+    <arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/>
+
+    <include file="$(find ccf)/launch/robot_setup.launch">
+        <arg name="robot_ip" value="$(arg robot_ip)"/>
+        <arg name="load_gripper" value="true"/>
+    </include>
+
+    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_7" output="screen">
+        <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
+        <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ga_tum-table-2-right.json"/>
+    </node>
+
+</launch>
-- 
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