first simple config

config/config_scene_dineros-left.json

+{
+  "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": "bigRed",
+      "type": "BOX",
+      "pos": {
+        "x": 0.3,
+        "y": 0.3,
+        "z": 0.9355
+      },
+      "size": {
+        "length": 0.0318,
+        "width": 0.0636,
+        "height": 0.091
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1
+      }
+    },
+    {
+      "id": "bigBlue",
+      "type": "BOX",
+      "pos": {
+        "x": 0.1,
+        "y": -0.25,
+        "z": 0.9355
+      },
+      "size": {
+        "length": 0.0318,
+        "width": 0.0636,
+        "height": 0.091
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "b": 1
+      }
+    },
+    {
+      "id": "smallBlue",
+      "type": "BOX",
+      "pos": {
+        "x": 0.3,
+        "y": -0.2,
+        "z": 0.9307
+      },
+      "size": {
+        "length": 0.0318,
+        "width": 0.0318,
+        "height": 0.0814
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "b": 1
+      }
+    },
+    {
+      "id": "smallRed",
+      "type": "BOX",
+      "pos": {
+        "x": 0.15,
+        "y": -0.15,
+        "z": 0.9307
+      },
+      "size": {
+        "length": 0.0318,
+        "width": 0.0318,
+        "height": 0.0814
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1
+      }
+    },
+    {
+      "id": "arm1",
+      "type": "ARM",
+      "pos": {
+        "z": 0.89,
+        "x": -0.22
+      },
+      "size": {},
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1,
+        "g": 1,
+        "b": 1
+      }
+    }
+  ]
+}

config/config_scene_dineros-left.yaml

+# 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': 'bigRed','type': 'BOX','pos': { 'x': 0.30,'y': 0.30,'z': 0.935500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+  { 'id': 'bigBlue','type': 'BOX','pos': { 'x': 0.10,'y': -0.25,'z': 0.935500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+
+  { 'id': 'smallBlue','type': 'BOX','pos': { 'x': 0.30,'y': -0.20,'z': 0.930700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+  { 'id': 'smallRed','type': 'BOX','pos': { 'x': 0.15,'y': -0.15,'z': 0.930700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'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 } }
+] }

config/config_scene_dineros-right.json

+{
+  "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": "binYellow",
+      "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": {
+        "r": 1,
+        "g": 1
+      }
+    },
+    {
+      "id": "binGreen",
+      "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": {
+        "g": 1
+      }
+    },
+    {
+      "id": "bigYellow",
+      "type": "BOX",
+      "pos": {
+        "x": 0.2,
+        "y": 0.05,
+        "z": 0.9403
+      },
+      "size": {
+        "length": 0.0318,
+        "width": 0.0636,
+        "height": 0.1006
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1,
+        "g": 1
+      }
+    },
+    {
+      "id": "bigGreen",
+      "type": "BOX",
+      "pos": {
+        "x": 0.3,
+        "y": 0.3,
+        "z": 0.9355
+      },
+      "size": {
+        "length": 0.0318,
+        "width": 0.0636,
+        "height": 0.091
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "g": 1
+      }
+    },
+    {
+      "id": "smallYellow",
+      "type": "BOX",
+      "pos": {
+        "x": 0.3,
+        "y": -0.2,
+        "z": 0.9307
+      },
+      "size": {
+        "length": 0.0318,
+        "width": 0.0318,
+        "height": 0.0814
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1,
+        "g": 1
+      }
+    },
+    {
+      "id": "smallGreen",
+      "type": "BOX",
+      "pos": {
+        "x": 0.15,
+        "y": -0.15,
+        "z": 0.9307
+      },
+      "size": {
+        "length": 0.0318,
+        "width": 0.0318,
+        "height": 0.0814
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "g": 1
+      }
+    },
+    {
+      "id": "arm2",
+      "type": "ARM",
+      "pos": {
+        "z": 0.89,
+        "x": -0.22
+      },
+      "size": {},
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1,
+        "g": 1,
+        "b": 1
+      }
+    }
+  ]
+}

config/config_scene_dineros-right.yaml

+# 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': 'binYellow', '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': { 'r': 1, 'g': 1  } },
+  { 'id': 'binGreen',  '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': { 'g': 1 } },
+
+  { 'id': 'bigYellow','type': 'BOX','pos': { 'x': 0.20,'y': 0.05,'z': 0.940300 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'r': 1, 'g': 1 } },
+  { 'id': 'bigGreen','type': 'BOX','pos': { 'x': 0.30,'y': 0.30,'z': 0.935500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+
+  { 'id': 'smallYellow','type': 'BOX','pos': { 'x': 0.30,'y': -0.20,'z': 0.930700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': 1, 'g': 1 } },
+  { 'id': 'smallGreen','type': 'BOX','pos': { 'x': 0.15,'y': -0.15,'z': 0.930700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'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': -0.22 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
+] }

launch/cell-controllers/noop-sim-cell_dineros-left.launch

+<launch>
+
+    <!-- MQTT server for communication with client cells -->
+    <arg name="mqtt_server" default="tcp://localhost:1883"
+         doc="address of the mqtt server for the connection to the controller"/>
+
+    <include file="$(find ccf)/launch/simulation_setup.launch"/>
+
+    <param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_1/command"/>
+
+    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_1" output="screen">
+        <param name="arm" type="string" value="arm1"/>
+        <param name="scene_observer" type="string" value="object_locator/scene/update"/>
+        <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
+        <param name="scene" type="string"
+               value="$(find ccf_immersive_sorting)/config/config_scene_dineros-left.json"/>
+    </node>
+
+</launch>

launch/cell-controllers/robot-cell_dineros-left.launch

+<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_1" output="screen">
+        <param name="arm" type="string" value="arm"/>
+        <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
+        <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_dineros-left.json"/>
+    </node>
+
+</launch>

launch/cell-controllers/robot-cell_dineros-right.launch

+<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_2" output="screen">
+        <param name="arm" type="string" value="arm"/>
+        <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
+        <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_dineros-right.json"/>
+    </node>
+
+</launch>