diff --git a/bt_nodes/perception/src/perception/filter_object.cpp b/bt_nodes/perception/src/perception/filter_object.cpp
index 31040ab..4419b38 100644
--- a/bt_nodes/perception/src/perception/filter_object.cpp
+++ b/bt_nodes/perception/src/perception/filter_object.cpp
@@ -34,68 +34,50 @@ FilterObject::FilterObject(
   const BT::NodeConfiguration & conf)
 : BT::ActionNodeBase(xml_tag_name, conf),
   objects_({{"person", {"human", 170.0f, 70.0f}},
-      {"bag", {"accessory", 30.0f, 0.3f}},
-      {"soccer_ball", {"toy", 28.0f, 0.4f}},
-      {"washcloth", {"cleaning_supply", 28.0f, 0.01f}},
-      {"bottle", {"drink", 27.0f, 1.0f}},
-      {"big_coke", {"drink", 27.0f, 2.0f}},
-      {"red_wine", {"drink", 26.0f, 1.0f}},
-      {"pringles", {"snack", 25.0f, 0.5f}},
-      {"orange_juice", {"drink", 24.0f, 0.5f}},
-      {"tropical_juice", {"drink", 24.0f, 0.5f}},
-      {"cleanser", {"cleaning_supply", 23.0f, 0.75f}},
-      {"soap", {"cleaning_supply", 23.0f, 0.75f}},
-      {"cornflakes", {"food", 22.0f, 0.4f}},
-      {"pancake_mix", {"food", 20.0f, 0.3f}},
-      {"hagelslag", {"food", 15.0f, 0.3f}},
-      {"plate", {"dish", 21.0f, 0.5f}},
-      {"bowl", {"dish", 20.0f, 0.5f}},
-      {"banana", {"fruit", 19.0f, 0.25f}},
-      {"tomato_soup", {"food", 18.0f, 0.5f}},
-      {"iced_tea", {"drink", 12.0f, 0.5f}},
-      {"juice_pack", {"drink", 12.0f, 0.4f}},
-      {"cola", {"drink", 12.0f, 0.5f}},
-      {"fanta", {"drink", 12.0f, 0.5f}},
-      {"dubbelfris", {"drink", 11.0f, 0.6f}},
-      {"sponge", {"cleaning_supply", 11.0f, 0.01f}},
-      {"tictac", {"snack", 10.0f, 0.4f}},
-      {"7up", {"drink", 11.0f, 0.5f}},
-      {"mustard", {"food", 11.0f, 0.3f}},
-      {"curry", {"food", 12.0f, 0.7f}},
-      {"mayonaise", {"food", 12.0f, 0.7f}},
-      {"pea_soup", {"food", 14.0f, 1.0f}},
-      {"sausages", {"food", 14.0f, 1.0f}},
-      {"milk", {"drink", 14.0f, 0.7f}},
-      {"stroopwafel", {"snack", 15.0f, 0.8f}},
-      {"candy", {"snack", 14.0f, 0.5f}},
-      {"water", {"drink", 13.0f, 0.6f}},
-      {"apple", {"fruit", 9.0f, 0.2f}},
-      {"cheezit", {"snack", 9.0f, 0.1f}},
-      {"liquorice", {"snack", 9.0f, 0.1f}},
-      {"crisps", {"snack", 9.0f, 0.1f}},
-      {"orange", {"fruit", 9.0f, 0.25f}},
-      {"pear", {"fruit", 9.0f, 0.25f}},
-      {"peach", {"fruit", 9.0f, 0.2f}},
-      {"ball", {"toy", 8.0f, 0.4f}},
-      {"cup", {"dish", 8.0f, 0.2f}},
-      {"coffe_grounds", {"food", 8.0f, 0.3f}},
-      {"spam", {"food", 8.0f, 0.3f}},
-      {"sugar", {"food", 8.0f, 0.5f}},
-      {"baseball", {"toy", 7.0f, 0.15f}},
-      {"lemon", {"fruit", 7.0f, 0.2f}},
-      {"plum", {"fruit", 7.0f, 0.15f}},
-      {"tennis_ball", {"toy", 7.0f, 0.2f}},
-      {"tuna", {"food", 6.0f, 0.3f}},
-      {"chocolate_jello", {"food", 6.0f, 0.2f}},
-      {"strawberry_jello", {"food", 6.0f, 0.2f}},
-      {"rubiks_cube", {"toy", 5.0f, 0.2f}},
-      {"knife", {"dish", 4.0f, 0.15f}},
-      {"fork", {"dish", 4.0f, 0.1f}},
-      {"spoon", {"dish", 4.0f, 0.1f}},
-      {"strawberry", {"fruit", 3.0f, 0.05f}},
-      {"dice", {"toy", 2.0f, 0.05f}},
-      {"candle", {"decoration", 1.0f, 0.02f}},
-      {"dishwasher_tab", {"cleaning_supply", 1.0f, 0.02f}}})
+    {"7up", {"drink", 12.0f, 0.36f}},
+    {"cola", {"drink", 12.0f, 0.36f}},
+    {"water", {"drink", 20.0f, 0.50f}},
+    {"milk", {"drink", 20.0f, 1.00f}},
+    {"orange juice", {"drink", 20.0f, 1.00f}},
+    {"tropical juice", {"drink", 20.0f, 1.00f}},
+    {"red wine", {"drink", 30.0f, 1.50f}},
+    {"redbull", {"drink", 15.0f, 0.25f}},
+    {"iced tea", {"drink", 20.0f, 0.50f}},
+    {"juice pack", {"drink", 10.0f, 0.25f}},
+    {"pringles", {"snack", 25.0f, 0.15f}},
+    {"cheezit", {"snack", 15.0f, 0.35f}},
+    {"cornflakes", {"snack", 30.0f, 0.50f}},
+    {"tennis ball", {"toy", 6.5f, 0.06f}},
+    {"dice", {"toy", 2.0f, 0.01f}},
+    {"soccer ball", {"toy", 22.0f, 0.43f}},
+    {"baseball", {"toy", 7.0f, 0.15f}},
+    {"rubiks cube", {"toy", 5.7f, 0.10f}},
+    {"knife", {"dish", 20.0f, 0.10f}},
+    {"fork", {"dish", 20.0f, 0.09f}},
+    {"bowl", {"dish", 15.0f, 0.35f}},
+    {"plate", {"dish", 25.0f, 0.50f}},
+    {"cup", {"dish", 10.0f, 0.20f}},
+    {"spoon", {"dish", 15.0f, 0.08f}},
+    {"sugar", {"food", 15.0f, 1.00f}},
+    {"coffee grounds", {"food", 15.0f, 0.50f}},
+    {"strawberry jello", {"food", 10.0f, 0.17f}},
+    {"chocolate jello", {"food", 10.0f, 0.17f}},
+    {"spam", {"food", 10.0f, 0.34f}},
+    {"tomato soup", {"food", 10.0f, 0.30f}},
+    {"mustard", {"food", 15.0f, 0.22f}},
+    {"tuna", {"food", 5.0f, 0.17f}},
+    {"plum", {"fruit", 5.0f, 0.08f}},
+    {"pear", {"fruit", 8.0f, 0.18f}},
+    {"apple", {"fruit", 8.0f, 0.20f}},
+    {"lemon", {"fruit", 6.0f, 0.10f}},
+    {"peach", {"fruit", 7.0f, 0.15f}},
+    {"strawberry", {"fruit", 3.0f, 0.02f}},
+    {"banana", {"fruit", 18.0f, 0.15f}},
+    {"orange", {"fruit", 8.0f, 0.20f}},
+    {"toothpaste", {"cleaning supply", 15.0f, 0.10f}},
+    {"cleanser", {"cleaning supply", 20.0f, 0.50f}},
+    {"sponge", {"cleaning supply", 10.0f, 0.02f}},
+  })
 {
   config().blackboard->get("node", node_);