diff --git a/asp-example/robossembler_db.json b/asp-example/robossembler_db.json
index 89dcd4f..8a62f10 100644
--- a/asp-example/robossembler_db.json
+++ b/asp-example/robossembler_db.json
@@ -2,232 +2,232 @@
 	"assets_db": "assets",
 	"workspace": [
 		{
-			"position": { "x": 0.2, "y": 0.2, "z": 0.0 }
+			"point": { "x": 0.2, "y": 0.2, "z": 0.0 }
 		},
 		{
-			"position": { "x": 0.4, "y": 0.2, "z": 0.0 }
+			"point": { "x": 0.4, "y": 0.2, "z": 0.0 }
 		},
 		{
-			"position": { "x": 0.4, "y": -0.2, "z": 0.0 }
+			"point": { "x": 0.4, "y": -0.2, "z": 0.0 }
 		},
 		{
-			"position": { "x": 0.2, "y": -0.2, "z": 0.0 }
+			"point": { "x": 0.2, "y": -0.2, "z": 0.0 }
 		}
 	],
 	"absolutePart": {
 		"name": "board",
 		"pose": {
-			"quaternion": {
-				"qw": "0.100000",
-				"qx": "0.000000",
-				"qy": "0.000000",
-				"qz": "0.000000"
+			"quat": {
+				"qw": 0.1,
+				"qx": 0.0,
+				"qy": 0.0,
+				"qz": 0.0
 			},
-			"position": {
-				"x": "0.500000",
-				"y": "0.000000",
-				"z": "0.000000"
+			"point": {
+				"x": 0.5,
+				"y": 0.0,
+				"z": 0.0
 			}
 		}
 	},
 	"relativeParts": [
 		{
 			"name": "bishop",
-			"relativeAt": "board",
+			"relative_at": "board",
 			"pose": {
-				"quaternion": {
-					"qw": "1.000000",
-					"qx": "0.000000",
-					"qy": "0.000000",
-					"qz": "0.000000"
+				"quat": {
+					"qw": 1.0,
+					"qx": 0.0,
+					"qy": 0.0,
+					"qz": 0.0
 				},
-				"position": {
-					"x": "-0.001700",
-					"y": "0.002927",
-					"z": "-0.000003"
+				"point": {
+					"x": -0.0017,
+					"y": 0.002927,
+					"z": -0.000003
 				}
 			}
 		},
 		{
 			"name": "king",
-			"relativeAt": "board",
+			"relative_at": "board",
 			"pose": {
-				"quaternion": {
-					"qw": "1.000000",
-					"qx": "0.000000",
-					"qy": "0.000000",
-					"qz": "0.000000"
+				"quat": {
+					"qw": 1.0,
+					"qx": 0.0,
+					"qy": 0.0,
+					"qz": 0.0
 				},
-				"pose": {
-					"x": "-0.008500",
-					"y": "0.003729",
-					"z": "0.000000"
+				"point": {
+					"x": -0.0085,
+					"y": 0.003729,
+					"z": 0.0
 				}
 			}
 		},
 		{
 			"name": "knight",
-			"relativeAt": "board",
+			"relative_at": "board",
 			"pose": {
-				"quaternion": {
-					"qw": "1.000000",
-					"qx": "0.000000",
-					"qy": "0.000000",
-					"qz": "0.000000"
+				"quat": {
+					"qw": 1.0,
+					"qx": 0.0,
+					"qy": 0.0,
+					"qz": 0.0
 				},
-				"pose": {
-					"x": "0.001700",
-					"y": "0.003012",
-					"z": "-0.000160"
+				"point": {
+					"x": 0.0017,
+					"y": 0.003012,
+					"z": -0.00016
 				}
 			}
 		},
 		{
 			"name": "queen",
-			"relativeAt": "board",
-			"position": {
-				"quaternion": {
-					"qw": "1.000000",
-					"qx": "0.000000",
-					"qy": "0.000000",
-					"qz": "0.000000"
+			"relative_at": "board",
+			"pose": {
+				"quat": {
+					"qw": 1.0,
+					"qx": 0.0,
+					"qy": 0.0,
+					"qz": 0.0
 				},
-				"position": {
-					"x": "-0.005100",
-					"y": "0.003340",
-					"z": "0.000000"
+				"point": {
+					"x": -0.0051,
+					"y": 0.00334,
+					"z": 0.0
 				}
 			}
 		},
 		{
 			"name": "pawn",
-			"relativeAt": "board",
+			"relative_at": "board",
 			"pose": {
-				"quaternion": {
-					"qw": "1.000000",
-					"qx": "0.000000",
-					"qy": "0.000000",
-					"qz": "0.000000"
+				"quat": {
+					"qw": 1.0,
+					"qx": 0.0,
+					"qy": 0.0,
+					"qz": 0.0
 				},
-				"position": {
-					"x": "0.008500",
-					"y": "0.002238",
-					"z": "0.000000"
+				"point": {
+					"x": 0.0085,
+					"y": 0.002238,
+					"z": 0.0
 				}
 			}
 		},
 		{
 			"name": "rook",
-			"relativeAt": "board",
+			"relative_at": "board",
 			"pose": {
-				"quaternion": {
-					"qw": "1.000000",
-					"qx": "0.000000",
-					"qy": "0.000000",
-					"qz": "0.000000"
+				"quat": {
+					"qw": 1.0,
+					"qx": 0.0,
+					"qy": 0.0,
+					"qz": 0.0
 				},
-				"position": {
-					"x": "0.005100",
-					"y": "0.002667",
-					"z": "0.000000"
+				"point": {
+					"x": 0.0051,
+					"y": 0.002667,
+					"z": 0.0
 				}
 			}
 		}
 	],
 	"graspPoseModels": [
 		{
-			"name": "king",
+			"relative_at": "king",
 			"pose": {
-				"quaternion": {
-					"qw": "0.525322",
-					"qx": "0.000000",
-					"qy": "0.850904",
-					"qz": "0.000000"
+				"quat": {
+					"qw": 0.525322,
+					"qx": 0.0,
+					"qy": 0.850904,
+					"qz": 0.0
 				},
-				"position": {
-					"x": "-0.000020",
-					"y": "0.003071",
-					"z": "0.000000"
+				"point": {
+					"x": -0.00002,
+					"y": 0.003071,
+					"z": 0.0
 				}
 			}
 		},
 		{
-			"name": "queen",
+			"relative_at": "queen",
 			"pose": {
-				"quaternion": {
-					"qw": "0.525322",
-					"qx": "0.000000",
-					"qy": "0.850904",
-					"qz": "0.000000"
+				"quat": {
+					"qw": 0.525322,
+					"qx": 0.0,
+					"qy": 0.850904,
+					"qz": 0.0
 				},
-				"position": {
-					"x": "0.000038",
-					"y": "0.003360",
-					"z": "0.000000"
+				"point": {
+					"x": 0.000038,
+					"y": 0.00336,
+					"z": 0.0
 				}
 			}
 		},
 		{
-			"name": "bishop",
-			"position": {
-				"quaternion": {
-					"qw": "0.525322",
-					"qx": "0.000000",
-					"qy": "0.850904",
-					"qz": "0.000000"
+			"relative_at": "bishop",
+			"pose": {
+				"quat": {
+					"qw": 0.525322,
+					"qx": 0.0,
+					"qy": 0.850904,
+					"qz": 0.0
 				},
-				"pose": {
-					"x": "0.000000",
-					"y": "0.0",
-					"z": "0.056"
+				"point": {
+					"x": 0.0,
+					"y": 0.0,
+					"z": 0.056
 				}
 			}
 		},
 		{
-			"name": "knight",
-			"position": {
-				"quaternion": {
-					"qw": "0.200770",
-					"qx": "-0.400576",
-					"qy": "0.799230",
-					"qz": "-0.400576"
+			"relative_at": "knight",
+			"pose": {
+				"quat": {
+					"qw": 0.20077,
+					"qx": -0.400576,
+					"qy": 0.79923,
+					"qz": -0.400576
 				},
-				"position": {
-					"x": "0.000000",
-					"y": "0.002604",
-					"z": "-0.000440"
+				"point": {
+					"x": 0.0,
+					"y": 0.002604,
+					"z": -0.00044
 				}
 			}
 		},
 		{
-			"name": "rook",
-			"position": {
-				"quaternion": {
-					"qw": "0.525322",
-					"qx": "0.000000",
-					"qy": "0.850904",
-					"qz": "0.000000"
+			"relative_at": "rook",
+			"pose": {
+				"quat": {
+					"qw": 0.525322,
+					"qx": 0.0,
+					"qy": 0.850904,
+					"qz": 0.0
 				},
-				"position": {
-					"x": "0.000000",
-					"y": "0.002233",
-					"z": "0.000000"
+				"point": {
+					"x": 0.0,
+					"y": 0.002233,
+					"z": 0.0
 				}
 			}
 		},
 		{
-			"name": "pawn",
-			"position": {
-				"quaternion": {
-					"qw": "0.525322",
-					"qx": "0.000000",
-					"qy": "0.850904",
-					"qz": "0.000000"
+			"relative_at": "pawn",
+			"pose": {
+				"quat": {
+					"qw": 0.525322,
+					"qx": 0.0,
+					"qy": 0.850904,
+					"qz": 0.0
 				},
-				"position": {
-					"x": "0.000000",
-					"y": "0.002162",
-					"z": "0.000000"
+				"point": {
+					"x": 0.0,
+					"y": 0.002162,
+					"z": 0.0
 				}
 			}
 		}
diff --git a/asp-example/robossembler_db.yaml b/asp-example/robossembler_db.yaml
new file mode 100644
index 0000000..0978e84
--- /dev/null
+++ b/asp-example/robossembler_db.yaml
@@ -0,0 +1,166 @@
+assets_db: assets
+workspace:
+  - x: 0.200000
+    y: 0.200000
+    z: 0.00000
+  - x: 0.400000
+    y: 0.200000
+    z: 0.00000
+  - x: 0.400000
+    y: -0.200000
+    z: 0.00000
+  - x: 0.200000
+    y: -0.200000
+    z: 0.00000
+absolute_part:
+  name: board
+  pose:
+    position:
+      x: 0.500000
+      y: 0.00000
+      z: 0.00000
+    orientation:
+      x: 0.00000
+      y: 0.00000
+      z: 0.00000
+      w: 0.100000
+relative_part:
+  - name: bishop
+    relative_at: board
+    pose:
+      position:
+        x: -0.00170000
+        y: 0.00292700
+        z: -3.00000e-06
+      orientation:
+        x: 0.00000
+        y: 0.00000
+        z: 0.00000
+        w: 1.00000
+  - name: king
+    relative_at: board
+    pose:
+      position:
+        x: -0.00850000
+        y: 0.00372900
+        z: 0.00000
+      orientation:
+        x: 0.00000
+        y: 0.00000
+        z: 0.00000
+        w: 1.00000
+  - name: knight
+    relative_at: board
+    pose:
+      position:
+        x: 0.00170000
+        y: 0.00301200
+        z: -0.000160000
+      orientation:
+        x: 0.00000
+        y: 0.00000
+        z: 0.00000
+        w: 1.00000
+  - name: queen
+    relative_at: board
+    pose:
+      position:
+        x: -0.00510000
+        y: 0.00334000
+        z: 0.00000
+      orientation:
+        x: 0.00000
+        y: 0.00000
+        z: 0.00000
+        w: 1.00000
+  - name: pawn
+    relative_at: board
+    pose:
+      position:
+        x: 0.00850000
+        y: 0.00223800
+        z: 0.00000
+      orientation:
+        x: 0.00000
+        y: 0.00000
+        z: 0.00000
+        w: 1.00000
+  - name: rook
+    relative_at: board
+    pose:
+      position:
+        x: 0.00510000
+        y: 0.00266700
+        z: 0.00000
+      orientation:
+        x: 0.00000
+        y: 0.00000
+        z: 0.00000
+        w: 1.00000
+grasp_pose:
+  - name: king
+    pose:
+      position:
+        x: -2.00000e-05
+        y: 0.00307100
+        z: 0.00000
+      orientation:
+        x: 0.00000
+        y: 0.850904
+        z: 0.00000
+        w: 0.525322
+  - name: queen
+    pose:
+      position:
+        x: 3.80000e-05
+        y: 0.00336000
+        z: 0.00000
+      orientation:
+        x: 0.00000
+        y: 0.850904
+        z: 0.00000
+        w: 0.525322
+  - name: bishop
+    pose:
+      position:
+        x: 0.00000
+        y: 0.00000
+        z: 0.0560000
+      orientation:
+        x: 0.00000
+        y: 0.850904
+        z: 0.00000
+        w: 0.525322
+  - name: knight
+    pose:
+      position:
+        x: 0.00000
+        y: 0.00260400
+        z: -0.000440000
+      orientation:
+        x: -0.400576
+        y: 0.799230
+        z: -0.400576
+        w: 0.200770
+  - name: rook
+    pose:
+      position:
+        x: 0.00000
+        y: 0.00223300
+        z: 0.00000
+      orientation:
+        x: 0.00000
+        y: 0.850904
+        z: 0.00000
+        w: 0.525322
+  - name: pawn
+    pose:
+      position:
+        x: 0.00000
+        y: 0.00216200
+        z: 0.00000
+      orientation:
+        x: 0.00000
+        y: 0.850904
+        z: 0.00000
+        w: 0.525322
\ No newline at end of file