diff --git a/config/config_scene_ceti-table-1-empty-grey.json b/config/config_scene_ceti-table-1-empty-grey.json
index 1c7fc4043f466869a622e7f70d15f6035ddea76b..79cb6c241d6203395d946c8cb91436ffbb6705e8 100644
--- a/config/config_scene_ceti-table-1-empty-grey.json
+++ b/config/config_scene_ceti-table-1-empty-grey.json
@@ -223,6 +223,94 @@
         "b": 0.15
       }
     },
+    {
+      "id": "D",
+      "type": "BIN",
+      "pos": {
+        "x": -0.23,
+        "y": 0.67,
+        "z": 0.9425
+      },
+      "size": {
+        "length": 0.24,
+        "width": 0.17,
+        "height": 0.105
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 0.2,
+        "g": 0.2,
+        "b": 0.2
+      }
+    },
+    {
+      "id": "C",
+      "type": "BIN",
+      "pos": {
+        "x": -0.23,
+        "y": 0.49,
+        "z": 0.9425
+      },
+      "size": {
+        "length": 0.24,
+        "width": 0.17,
+        "height": 0.105
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 0.4,
+        "g": 0.4,
+        "b": 0.4
+      }
+    },
+    {
+      "id": "B",
+      "type": "BIN",
+      "pos": {
+        "x": -0.23,
+        "y": -0.49,
+        "z": 0.9425
+      },
+      "size": {
+        "length": 0.24,
+        "width": 0.17,
+        "height": 0.105
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 0.6,
+        "g": 0.6,
+        "b": 0.6
+      }
+    },
+    {
+      "id": "A",
+      "type": "BIN",
+      "pos": {
+        "x": -0.23,
+        "y": -0.67,
+        "z": 0.9425
+      },
+      "size": {
+        "length": 0.24,
+        "width": 0.17,
+        "height": 0.105
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 0.8,
+        "g": 0.8,
+        "b": 0.8
+      }
+    },
     {
       "id": "arm",
       "type": "ARM",
diff --git a/config/config_scene_ceti-table-1-empty-grey.yaml b/config/config_scene_ceti-table-1-empty-grey.yaml
index 6f8b371835a525bac3cbd43ea4ff181d91674ab2..3a2feaabce5438a4c76a836d9655d37c33e32003 100644
--- a/config/config_scene_ceti-table-1-empty-grey.yaml
+++ b/config/config_scene_ceti-table-1-empty-grey.yaml
@@ -29,10 +29,10 @@
   # the width is 31.8 or 63.6
   # if they stand on a panel edge, they stand at 40 + 0.5 + 14.25 = 54.75
   # their x location is N*19 + 9.5 - 35 = N*20 - 25.5 = -25.5 and -5.5 and 14.5 if they have 1 cm distance
-#  { 'id': 'D','type': 'BIN','pos': { 'x': -0.23,'y': 0.67,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.2, 'g': 0.2, 'b': 0.2 } },
-#  { 'id': 'C','type': 'BIN','pos': { 'x': -0.23,'y': 0.49,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.4, 'g': 0.4, 'b': 0.4 } },
-#  { 'id': 'B','type': 'BIN','pos': { 'x': -0.23,'y': -0.49,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.6, 'g': 0.6, 'b': 0.6 } },
-#  { 'id': 'A','type': 'BIN','pos': { 'x': -0.23,'y': -0.67,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.8, 'g': 0.8, 'b': 0.8 } },
+  { 'id': 'D','type': 'BIN','pos': { 'x': -0.23,'y': 0.67,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.2, 'g': 0.2, 'b': 0.2 } },
+  { 'id': 'C','type': 'BIN','pos': { 'x': -0.23,'y': 0.49,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.4, 'g': 0.4, 'b': 0.4 } },
+  { 'id': 'B','type': 'BIN','pos': { 'x': -0.23,'y': -0.49,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.6, 'g': 0.6, 'b': 0.6 } },
+  { 'id': 'A','type': 'BIN','pos': { 'x': -0.23,'y': -0.67,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.8, 'g': 0.8, 'b': 0.8 } },
 
   { '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 } }
 ] }