diff --git a/ros2/src/robobin/robobin/graphs/default_graph.json b/ros2/src/robobin/robobin/graphs/default_graph.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcf32dc241eb07671a76b9212d5abd2c5a8c9647
--- /dev/null
+++ b/ros2/src/robobin/robobin/graphs/default_graph.json
@@ -0,0 +1,13 @@
+{
+ "name": "default",
+ "nodes": [
+ { "name": "A", "x": 50, "y": 50 },
+ { "name": "B", "x": 150, "y": 200 }
+
+ ],
+ "connections": [
+ [false, true],
+ [true, false]
+ ]
+ }
+
\ No newline at end of file
diff --git a/ros2/src/robobin/robobin/graphs/graph.json b/ros2/src/robobin/robobin/graphs/graph.json
index bcf32dc241eb07671a76b9212d5abd2c5a8c9647..6fe5a30a1b28a5bfa95d53efd67d3ecc39957f40 100644
--- a/ros2/src/robobin/robobin/graphs/graph.json
+++ b/ros2/src/robobin/robobin/graphs/graph.json
@@ -1,13 +1,337 @@
{
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- { "name": "B", "x": 150, "y": 200 }
-
- ],
- "connections": [
- [false, true],
- [true, false]
+ "name": "Lab 1 Extended",
+ "nodes": [
+ {
+ "name": "A1",
+ "x": 0,
+ "y": 683.8426674777152
+ },
+ {
+ "name": "A2",
+ "x": 1494.4826036996865,
+ "y": 253.20931115929415
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+ {
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+ "x": 470.74154054236817,
+ "y": -449.16367143212346
+ },
+ {
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+ "y": 0
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+ "x": 93.39392129366847,
+ "y": 275.49904580290496
+ },
+ {
+ "name": "Node6",
+ "x": 638.9135042969463,
+ "y": -46.598326546338775
+ },
+ {
+ "name": "Node7",
+ "x": 1052.9781037893322,
+ "y": 234.25043232511482
+ },
+ {
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+ "x": 424.0156535923788,
+ "y": 568.8092192381193
+ },
+ {
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+ "x": 1235.1773241000042,
+ "y": 601.855636153471
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+ "y": 637.9134257484828
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+ "y": 417.45557421693724
+ },
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+ "y": 509.81789337686325
+ },
+ {
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+ "x": 676.8877347693988,
+ "y": 384.7917953969826
+ },
+ {
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\ No newline at end of file
+ ]
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\ No newline at end of file
diff --git a/ros2/src/robobin/robobin/graphs/old_graph.json b/ros2/src/robobin/robobin/graphs/old_graph.json
deleted file mode 100644
index 6fe5a30a1b28a5bfa95d53efd67d3ecc39957f40..0000000000000000000000000000000000000000
--- a/ros2/src/robobin/robobin/graphs/old_graph.json
+++ /dev/null
@@ -1,337 +0,0 @@
-{
- "name": "Lab 1 Extended",
- "nodes": [
- {
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- "x": 0,
- "y": 683.8426674777152
- },
- {
- "name": "A2",
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- "y": 253.20931115929415
- },
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- "y": -449.16367143212346
- },
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- },
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- },
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