diff --git a/launch/main_controller_ceti-table_real_robot.launch b/launch/main_controller_ceti-table_real_robot.launch
new file mode 100644
index 0000000000000000000000000000000000000000..48f5ae1ca7abba07235723f5ae8c27c0e33c1934
--- /dev/null
+++ b/launch/main_controller_ceti-table_real_robot.launch
@@ -0,0 +1,28 @@
+<launch>
+
+    <arg name="connection_address" default="tcp://*:6576"/>
+    <arg name="mqtt_server" default="tcp://127.0.0.1:1883"/>
+    <arg name="client_controllers" default="['ceti_cell']"/>
+    <arg name="robot_ip" default="172.31.1.13"/>
+    <arg name="load_gripper" default="true"/>
+
+    <node pkg="ccf_immersive_sorting" type="main_controller" name="main_controller" output="screen">
+        <param name="connection_address" type="string" value="$(arg connection_address)"/>
+        <param name="client_controllers" type="yaml" value="$(arg client_controllers)"/>
+        <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.json"/>
+    </node>
+
+
+
+    <include file="$(find ccf)/launch/robot_setup.launch">
+        <arg name="robot_ip" value="$(arg robot_ip)"/>
+        <arg name="load_gripper" value="$(arg load_gripper)"/>
+    </include>
+
+    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell" output="screen">
+        <param name="connection_address" type="string" value="$(arg connection_address)"/>
+        <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/>
+    </node>
+
+</launch>
diff --git a/launch/main_controller_virtual_preview_ceti-table_real_robot.launch b/launch/main_controller_virtual_preview_ceti-table_real_robot.launch
new file mode 100644
index 0000000000000000000000000000000000000000..fd2761672a701acb7425f790d330deecacdd24ca
--- /dev/null
+++ b/launch/main_controller_virtual_preview_ceti-table_real_robot.launch
@@ -0,0 +1,28 @@
+<launch>
+
+    <arg name="connection_address" default="tcp://*:6576"/>
+    <arg name="mqtt_server" default="tcp://127.0.0.1:1883"/>
+    <arg name="client_controllers" default="['ceti_cell']"/>
+    <arg name="robot_ip" default="172.31.1.13"/>
+    <arg name="load_gripper" default="true"/>
+
+    <node pkg="ccf_immersive_sorting" type="main_controller" name="main_controller" output="screen">
+        <param name="connection_address" type="string" value="$(arg connection_address)"/>
+        <param name="client_controllers" type="yaml" value="$(arg client_controllers)"/>
+        <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
+        <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_virtual-table.json"/>
+    </node>
+
+
+
+    <include file="$(find ccf)/launch/robot_setup.launch">
+        <arg name="robot_ip" value="$(arg robot_ip)"/>
+        <arg name="load_gripper" value="$(arg load_gripper)"/>
+    </include>
+
+    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell" output="screen">
+        <param name="connection_address" type="string" value="$(arg connection_address)"/>
+        <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/>
+    </node>
+
+</launch>