diff --git a/config/config_scene_virtual-table.json b/config/config_scene_virtual-table.json
new file mode 100644
index 0000000000000000000000000000000000000000..71aaf35f7be539ee5fc526a5b11422312358df31
--- /dev/null
+++ b/config/config_scene_virtual-table.json
@@ -0,0 +1,255 @@
+{
+  "objects": [
+    {
+      "id": "table",
+      "pos": {
+        "z": 0.25
+      },
+      "size": {
+        "length": 1,
+        "width": 2,
+        "height": 0.5
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 0.3,
+        "g": 0.3,
+        "b": 0.3
+      }
+    },
+    {
+      "id": "binBlue",
+      "type": "BIN",
+      "pos": {
+        "x": -0.35,
+        "y": -0.6,
+        "z": 0.65
+      },
+      "size": {
+        "length": 0.2,
+        "width": 0.4,
+        "height": 0.3
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "b": 1
+      }
+    },
+    {
+      "id": "binGreen",
+      "type": "BIN",
+      "pos": {
+        "x": -0.35,
+        "y": 0,
+        "z": 0.65
+      },
+      "size": {
+        "length": 0.2,
+        "width": 0.4,
+        "height": 0.3
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "g": 1
+      }
+    },
+    {
+      "id": "binRed",
+      "type": "BIN",
+      "pos": {
+        "x": -0.35,
+        "y": 0.6,
+        "z": 0.65
+      },
+      "size": {
+        "length": 0.2,
+        "width": 0.4,
+        "height": 0.3
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1
+      }
+    },
+    {
+      "id": "bigBlue",
+      "type": "BOX",
+      "pos": {
+        "x": 0.2,
+        "y": -0.3,
+        "z": 0.58
+      },
+      "size": {
+        "length": 0.1,
+        "width": 0.16,
+        "height": 0.16
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "b": 0.8
+      }
+    },
+    {
+      "id": "bigGreen",
+      "type": "BOX",
+      "pos": {
+        "x": 0.2,
+        "y": -0.1,
+        "z": 0.58
+      },
+      "size": {
+        "length": 0.1,
+        "width": 0.16,
+        "height": 0.16
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "g": 0.8
+      }
+    },
+    {
+      "id": "bigRed",
+      "type": "BOX",
+      "pos": {
+        "x": 0.2,
+        "y": 0.1,
+        "z": 0.58
+      },
+      "size": {
+        "length": 0.1,
+        "width": 0.16,
+        "height": 0.16
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 0.8
+      }
+    },
+    {
+      "id": "bigYellow",
+      "type": "BOX",
+      "pos": {
+        "x": 0.2,
+        "y": 0.3,
+        "z": 0.58
+      },
+      "size": {
+        "length": 0.1,
+        "width": 0.16,
+        "height": 0.16
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 0.8,
+        "g": 0.8
+      }
+    },
+    {
+      "id": "smallBlue",
+      "type": "BOX",
+      "pos": {
+        "x": 0.4,
+        "y": -0.2,
+        "z": 0.54
+      },
+      "size": {
+        "length": 0.1,
+        "width": 0.08,
+        "height": 0.08
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "b": 0.8
+      }
+    },
+    {
+      "id": "smallGreen",
+      "type": "BOX",
+      "pos": {
+        "x": 0.4,
+        "y": 0,
+        "z": 0.54
+      },
+      "size": {
+        "length": 0.1,
+        "width": 0.08,
+        "height": 0.08
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "g": 0.8
+      }
+    },
+    {
+      "id": "smallRed",
+      "type": "BOX",
+      "pos": {
+        "x": 0.4,
+        "y": 0.2,
+        "z": 0.54
+      },
+      "size": {
+        "length": 0.1,
+        "width": 0.08,
+        "height": 0.08
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 0.8
+      }
+    },
+    {
+      "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": 0.8,
+        "g": 0.8
+      }
+    },
+    {
+      "id": "arm",
+      "type": "ARM",
+      "pos": {},
+      "size": {},
+      "orientation": {
+        "w": 1
+      },
+      "color": {}
+    }
+  ]
+}
diff --git a/config/config_scene_virtual-table.yaml b/config/config_scene_virtual-table.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9d22cc552c0b445fab98a86e946b5859974078af
--- /dev/null
+++ b/config/config_scene_virtual-table.yaml
@@ -0,0 +1,31 @@
+# create json file using
+# yq eval -o=json config_scene_virtual-table.yaml > config_scene_virtual-table.json
+{ 'objects': [
+  # table
+  # height: 1m
+  # width: 2m
+  { 'id': 'table', 'pos': { 'z': 0.25 },'size': { 'length': 1,'width': 2,'height': .5 },'orientation': { 'w': 1 },'color': { 'r': 0.3,'g': 0.3,'b': 0.3 } },
+
+  #
+  { 'id': 'binBlue', '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': { 'b': 1 } },
+  { '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': 1 } },
+  { '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': 1 } },
+
+  # 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+7160)/10000, (i*96+46)/10000));
+{ '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: 0.8} },
+{ '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: 0.8} },
+{ '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: 0.8} },
+{ '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: 0.8, 'g':0.8} },
+
+
+
+  # for i in range(3,10): print("{ 'id': 'object2x2x%.1f','type': 'BOX','pos': { 'x': 0.5,'y': %f,'z': %f },'size': { 'length': .0318, 'width': .0318,'height': %f },'orientation': { 'w': 1 },'color': {} }," % (i/2, (i-6)*.1, (i*48+23+7020)/10000, (i*96+46)/10000));
+
+{ '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: 0.8} },
+{ '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: 0.8} },
+{ '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: 0.8} },
+{ '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: 0.8, 'g':0.8} },
+
+
+  { 'id': 'arm','type': 'ARM','pos': {  },'size': { },'orientation': { 'w': 1 },'color': { } }
+] }