diff --git a/config/config_scene_ceti-table-1-empty.json b/config/config_scene_ceti-table-1-empty.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0cd87394d2c3df00beb82476b8cd500c19c255e
--- /dev/null
+++ b/config/config_scene_ceti-table-1-empty.json
@@ -0,0 +1,324 @@
+{
+ "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": "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_ceti-table-1-empty.yaml b/config/config_scene_ceti-table-1-empty.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8e076ac6e8fbc8e6e45a6ab18717117fe3094d59
--- /dev/null
+++ b/config/config_scene_ceti-table-1-empty.yaml
@@ -0,0 +1,37 @@
+# create json file using
+# yq eval -o=json config_scene_ceti-table-1-empty.yaml > config_scene_ceti-table-1-empty.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': '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/objects.json b/config/objects.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb840a2683e742ba826c94383a3e741d6b47db71
--- /dev/null
+++ b/config/objects.json
@@ -0,0 +1,321 @@
+{
+ "objects": [
+ {
+ "id": "smallRed25",
+ "type": "BOX",
+ "pos": {
+ "x": 0,
+ "y": 0,
+ "z": 0
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0318,
+ "height": 0.0814
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": "1"
+ }
+ },
+ {
+ "id": "bigRed4",
+ "type": "BOX",
+ "pos": {
+ "x": 0,
+ "y": 0,
+ "z": 0
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0636,
+ "height": 0.1006
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": "1"
+ }
+ },
+ {
+ "id": "bigRed5",
+ "type": "BOX",
+ "pos": {
+ "x": 0,
+ "y": 0,
+ "z": 0
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0636,
+ "height": 0.1102
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": "1"
+ }
+ },
+ {
+ "id": "smallYellow26",
+ "type": "BOX",
+ "pos": {
+ "x": 0,
+ "y": 0,
+ "z": 0
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0318,
+ "height": 0.0814
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": "1",
+ "g": "1"
+ }
+ },
+ {
+ "id": "smallYellow29",
+ "type": "BOX",
+ "pos": {
+ "x": 0,
+ "y": 0,
+ "z": 0
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0318,
+ "height": 0.0622
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": "1",
+ "g": "1"
+ }
+ },
+ {
+ "id": "smallYellow31",
+ "type": "BOX",
+ "pos": {
+ "x": 0,
+ "y": 0,
+ "z": 0
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0318,
+ "height": 0.0814
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": "1",
+ "g": "1"
+ }
+ },
+ {
+ "id": "bigYellow10",
+ "type": "BOX",
+ "pos": {
+ "x": 0,
+ "y": 0,
+ "z": 0
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0636,
+ "height": 0.1198
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": "1",
+ "g": "1"
+ }
+ },
+ {
+ "id": "bigYellow11",
+ "type": "BOX",
+ "pos": {
+ "x": 0,
+ "y": 0,
+ "z": 0
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0636,
+ "height": 0.1006
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": "1",
+ "g": "1"
+ }
+ },
+ {
+ "id": "smallBlue28",
+ "type": "BOX",
+ "pos": {
+ "x": 0,
+ "y": 0,
+ "z": 0
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0318,
+ "height": 0.0814
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "b": "1"
+ }
+ },
+ {
+ "id": "bigBlue7",
+ "type": "BOX",
+ "pos": {
+ "x": 0,
+ "y": 0,
+ "z": 0
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0636,
+ "height": 0.1006
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "b": "1"
+ }
+ },
+ {
+ "id": "bigBlue8",
+ "type": "BOX",
+ "pos": {
+ "x": 0,
+ "y": 0,
+ "z": 0
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0636,
+ "height": 0.1006
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "b": "1"
+ }
+ },
+ {
+ "id": "smallGreen32",
+ "type": "BOX",
+ "pos": {
+ "x": 0,
+ "y": 0,
+ "z": 0
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0318,
+ "height": 0.0814
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "g": "1"
+ }
+ },
+ {
+ "id": "smallGreen34",
+ "type": "BOX",
+ "pos": {
+ "x": 0,
+ "y": 0,
+ "z": 0
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0318,
+ "height": 0.0814
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "g": "1"
+ }
+ },
+ {
+ "id": "bigGreen6",
+ "type": "BOX",
+ "pos": {
+ "x": 0,
+ "y": 0,
+ "z": 0
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0636,
+ "height": 0.1006
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "g": "1"
+ }
+ },
+ {
+ "id": "bigGreen9",
+ "type": "BOX",
+ "pos": {
+ "x": 0,
+ "y": 0,
+ "z": 0
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0636,
+ "height": 0.1006
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "g": "1"
+ }
+ },
+ {
+ "id": "arm",
+ "type": "ARM",
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1,
+ "g": 1,
+ "b": 1
+ }
+ }
+ ]
+}
diff --git a/config/objects.yaml b/config/objects.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0605b91532f1b80c42ab0ac332978bc5bbbf22b8
--- /dev/null
+++ b/config/objects.yaml
@@ -0,0 +1,31 @@
+# create json file using
+# yq eval -o=json objects.yaml > objects.json
+{ 'objects': [
+
+ # heights of objects (including pins):
+ # formula: half-height * 9.6 + 4.6
+ # formula (python)
+ # for i in range(5,13): print("{ 'id': 'object4x2x%.1f','type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': %f },'orientation': { 'w': 1 },'color': { 'r': '1'} }," % (i/2, (i*96+46)/10000));
+ # for i in range(5,13): print("{ 'id': 'object2x2x%.1f','type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': %f },'orientation': { 'w': 1 },'color': { 'r': '1'} }," % (i/2, (i*96+46)/10000));
+
+ { 'id': 'smallRed25' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': '1'} },
+ { 'id': 'bigRed4' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'r': '1'} },
+ { 'id': 'bigRed5' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.110200 },'orientation': { 'w': 1 },'color': { 'r': '1'} },
+
+ { 'id': 'smallYellow26','type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': '1', 'g': '1'} },
+ { 'id': 'smallYellow29','type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.062200 },'orientation': { 'w': 1 },'color': { 'r': '1', 'g': '1'} },
+ { 'id': 'smallYellow31','type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': '1', 'g': '1'} },
+ { 'id': 'bigYellow10' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.119800 },'orientation': { 'w': 1 },'color': { 'r': '1', 'g': '1'} },
+ { 'id': 'bigYellow11' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'r': '1', 'g': '1'} },
+
+ { 'id': 'smallBlue28' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'b': '1'} },
+ { 'id': 'bigBlue7' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'b': '1'} },
+ { 'id': 'bigBlue8' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'b': '1'} },
+
+ { 'id': 'smallGreen32' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'g': '1'} },
+ { 'id': 'smallGreen34' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'g': '1'} },
+ { 'id': 'bigGreen6' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'g': '1'} },
+ { 'id': 'bigGreen9' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'g': '1'} },
+
+ { 'id': 'arm','type': 'ARM','orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
+] }