diff --git a/init_Orderpicker.txt b/init_Orderpicker.txt
index 06eff4a3f7e49b46f6bbcd6e7720a2c8cd6d047d..00c23c623b0eda265594d2679919e3fc3f0d874e 100644
--- a/init_Orderpicker.txt
+++ b/init_Orderpicker.txt
@@ -1,4 +1,4 @@
 {"frames": [{"id": "box_1", "space": [{"position": {"refSystemId": "ROOT", "point": {"x": 0.0,"y": 4.0,"z": 0.0}, "accuracy": 0.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "x": 0.6, "y": 1.0, "z":15.0}]}, {"id": "box_2", "space": [{"position": {"refSystemId": "ROOT", "point": {"x": 0.8,"y": 4.0,"z": 0.0}, "accuracy": 0.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "x": 0.6, "y": 1.0, "z":15.0}]}, {"id": "box_3", "space": [{"position": {"refSystemId": "ROOT", "point": {"x": 1.6,"y": 4.0,"z": 0.0}, "accuracy": 0.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "x": 0.6, "y": 1.0, "z":15.0}]}, {"id": "box_4", "space": [{"position": {"refSystemId": "ROOT", "point": {"x": 2.4,"y": 4.0,"z": 0.0}, "accuracy": 0.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "x": 0.6, "y": 1.0, "z":15.0}]}, {"id": "box_5", "space": [{"position": {"refSystemId": "ROOT", "point": {"x": 3.2,"y": 4.0,"z": 0.0}, "accuracy": 0.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "x": 0.6, "y": 1.0, "z":15.0}]}, {"id": "box_6", "space": [{"position": {"refSystemId": "ROOT", "point": {"x": 4.0,"y": 4.0,"z": 0.0}, "accuracy": 0.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "x": 0.6, "y": 1.0, "z":15.0}]}, {"id": "shipmentBin_1", "space": [{"position": {"refSystemId": "ROOT", "point": {"x": 0.8,"y": 3.0,"z": 0.0}, "accuracy": 0.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "x": 0.6, "y": 1.0, "z":15.0}]}, {"id": "shipmentBin_2", "space": [{"position": {"refSystemId": "ROOT", "point": {"x": 1.6,"y": 3.0,"z": 0.0}, "accuracy": 0.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "x": 0.6, "y": 1.0, "z":15.0}]}, {"id": "shipmentBin_3", "space": [{"position": {"refSystemId": "ROOT", "point": {"x": 2.4,"y": 3.0,"z": 0.0}, "accuracy": 0.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "x": 0.6, "y": 1.0, "z":15.0}]} ]}
 {"refSystems": [{"id": "ROOT"}, {"id": "CETI_ROOT", "position": {"refSystemId": "ROOT", "point": {"x": 3.05,"y": 2.08,"z": 0.0}, "accuracy": 1.0}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0}}]}
-{"objectConfigs": [{"agentId": "Employee_1", "sensorId": "UWB_1", "agentType": "HUMAN", "sensorType": "UWB"}]}
+{"objectConfigs": [{"agentId": "Employee_1", "sensorId": "UWB_2", "agentType": "HUMAN", "sensorType": "UWB"}]}
 {"pois": [{"id": "885", "description": "Beacon_Position", "data": {"type" : "UWB"}, "position": {"refSystemId": "ROOT", "point": {"x": 0,"y": 0,"z": 0.97}, "accuracy": 0.01}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }, {"id": "2934", "description": "Beacon_Position", "data": {"type" : "UWB"}, "position": {"refSystemId": "ROOT", "point": {"x": 4.24,"y": 1.33,"z": 1.0}, "accuracy": 0.01}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }, {"id": "3383", "description": "Beacon_Position", "data": {"type" : "UWB"}, "position": {"refSystemId": "ROOT", "point": {"x": 1.25,"y": 5.89,"z": 1.06}, "accuracy": 0.01}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }, {"id": "1107", "description": "Beacon_Position", "data": {"type" : "UWB"}, "position": {"refSystemId": "ROOT", "point": {"x": 4.24,"y": 5.83,"z": 1.05}, "accuracy": 0.01}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }]}
\ No newline at end of file
diff --git a/testdata_raw_orderpicker_posEvts.txt b/testdata_raw_orderpicker_posEvts.txt
index 65d2d0b7475f8d050ddd072bbdaf8ce353245b95..bdd729b42e85e25ac8f5554a2cbee22233b04e9f 100644
--- a/testdata_raw_orderpicker_posEvts.txt
+++ b/testdata_raw_orderpicker_posEvts.txt
@@ -1,8 +1,8 @@
 {"objects" : [ 	{ 		"id" : "Employee_1", 		"sensorId" : "UWB_1", 		"type" : "HUMAN", 		"sensorType" : "UWB", 		"position" : {"refSystemId": "ROOT", "point": {"x": 0,"y": 0,"z": 0.97}, "accuracy": 0.01}, 		"orientation" : {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0}, 		"lastPosUpdate" : "2021-10-14T19:32:20+00:00", 		"zoneDescriptors" : [{"zoneId" : "box_1", "notificationType" : "undefined"}] 	} ]}
-{"objects" : [ 	{ 		"id" : "Employee_1", 		"sensorId" : "UWB_1", 		"type" : "HUMAN", 		"sensorType" : "UWB", 		"position" : {"refSystemId": "ROOT", "point": {"x": 0,"y": 0,"z": 0.97}, "accuracy": 0.01}, 		"orientation" : {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0}, 		"lastPosUpdate" : "2021-10-14T19:32:20+00:00", 		"zoneDescriptors" : [{"zoneId" : "shipmentBin_4", "notificationType" : "undefined"}] 	} ]}
-{"objects" : [ 	{ 		"id" : "Employee_1", 		"sensorId" : "UWB_1", 		"type" : "HUMAN", 		"sensorType" : "UWB", 		"position" : {"refSystemId": "ROOT", "point": {"x": 0,"y": 0,"z": 0.97}, "accuracy": 0.01}, 		"orientation" : {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0}, 		"lastPosUpdate" : "2021-10-14T19:32:20+00:00", 		"zoneDescriptors" : [{"zoneId" : "box_3", "notificationType" : "undefined"}] 	} ]}
+{"objects" : [ 	{ 		"id" : "Employee_1", 		"sensorId" : "UWB_1", 		"type" : "HUMAN", 		"sensorType" : "UWB", 		"position" : {"refSystemId": "ROOT", "point": {"x": 0,"y": 0,"z": 0.97}, "accuracy": 0.01}, 		"orientation" : {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0}, 		"lastPosUpdate" : "2021-10-14T19:32:20+00:00", 		"zoneDescriptors" : [{"zoneId" : "shipmentBin_5", "notificationType" : "undefined"}] 	} ]}
+{"objects" : [ 	{ 		"id" : "Employee_1", 		"sensorId" : "UWB_1", 		"type" : "HUMAN", 		"sensorType" : "UWB", 		"position" : {"refSystemId": "ROOT", "point": {"x": 0,"y": 0,"z": 0.97}, "accuracy": 0.01}, 		"orientation" : {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0}, 		"lastPosUpdate" : "2021-10-14T19:32:20+00:00", 		"zoneDescriptors" : [{"zoneId" : "box_4", "notificationType" : "undefined"}] 	} ]}
 {"objects" : [ 	{ 		"id" : "Employee_1", 		"sensorId" : "UWB_1", 		"type" : "HUMAN", 		"sensorType" : "UWB", 		"position" : {"refSystemId": "ROOT", "point": {"x": 0,"y": 0,"z": 0.97}, "accuracy": 0.01}, 		"orientation" : {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0}, 		"lastPosUpdate" : "2021-10-14T19:32:20+00:00", 		"zoneDescriptors" : [{"zoneId" : "shipmentBin_3", "notificationType" : "undefined"}] 	} ]}
 {"objects" : [ 	{ 		"id" : "Employee_1", 		"sensorId" : "UWB_1", 		"type" : "HUMAN", 		"sensorType" : "UWB", 		"position" : {"refSystemId": "ROOT", "point": {"x": 0,"y": 0,"z": 0.97}, "accuracy": 0.01}, 		"orientation" : {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0}, 		"lastPosUpdate" : "2021-10-14T19:32:20+00:00", 		"zoneDescriptors" : [{"zoneId" : "box_5", "notificationType" : "undefined"}] 	} ]}
 {"objects" : [ 	{ 		"id" : "Employee_1", 		"sensorId" : "UWB_1", 		"type" : "HUMAN", 		"sensorType" : "UWB", 		"position" : {"refSystemId": "ROOT", "point": {"x": 0,"y": 0,"z": 0.97}, "accuracy": 0.01}, 		"orientation" : {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0}, 		"lastPosUpdate" : "2021-10-14T19:32:20+00:00", 		"zoneDescriptors" : [{"zoneId" : "shipmentBin_3", "notificationType" : "undefined"}] 	} ]}
 {"objects" : [ 	{ 		"id" : "Employee_1", 		"sensorId" : "UWB_1", 		"type" : "HUMAN", 		"sensorType" : "UWB", 		"position" : {"refSystemId": "ROOT", "point": {"x": 0,"y": 0,"z": 0.97}, "accuracy": 0.01}, 		"orientation" : {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0}, 		"lastPosUpdate" : "2021-10-14T19:32:20+00:00", 		"zoneDescriptors" : [{"zoneId" : "box_2", "notificationType" : "undefined"}] 	} ]}
-{"objects" : [ 	{ 		"id" : "Employee_1", 		"sensorId" : "UWB_1", 		"type" : "HUMAN", 		"sensorType" : "UWB", 		"position" : {"refSystemId": "ROOT", "point": {"x": 0,"y": 0,"z": 0.97}, "accuracy": 0.01}, 		"orientation" : {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0}, 		"lastPosUpdate" : "2021-10-14T19:32:20+00:00", 		"zoneDescriptors" : [{"zoneId" : "shipmentBin_3", "notificationType" : "undefined"}] 	} ]}
\ No newline at end of file
+{"objects" : [ 	{ 		"id" : "Employee_1", 		"sensorId" : "UWB_1", 		"type" : "HUMAN", 		"sensorType" : "UWB", 		"position" : {"refSystemId": "ROOT", "point": {"x": 0,"y": 0,"z": 0.97}, "accuracy": 0.01}, 		"orientation" : {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0}, 		"lastPosUpdate" : "2021-10-14T19:32:20+00:00", 		"zoneDescriptors" : [{"zoneId" : "shipmentBin_2", "notificationType" : "undefined"}] 	} ]}
\ No newline at end of file
diff --git a/testdata_raw_orderpicker_posEvts_readable.txt b/testdata_raw_orderpicker_posEvts_readable.txt
index e9ab96ccef81ae8abee0b4ac96b623cc5c5e7529..c549bbea706b1bec861ad7c45df9f9bf6c9c2259 100644
--- a/testdata_raw_orderpicker_posEvts_readable.txt
+++ b/testdata_raw_orderpicker_posEvts_readable.txt
@@ -19,7 +19,7 @@
 		"position" : {"refSystemId": "ROOT", "point": {"x": 0,"y": 0,"z": 0.97}, "accuracy": 0.01},
 		"orientation" : {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0},
 		"lastPosUpdate" : "2021-10-14T19:32:20+00:00",
-		"zoneDescriptors" : [{"zoneId" : "shipmentBin_4", "notificationType" : "undefined"}]
+		"zoneDescriptors" : [{"zoneId" : "shipmentBin_5", "notificationType" : "undefined"}]
 	}
 ]}
 {"objects" : [
@@ -31,7 +31,7 @@
 		"position" : {"refSystemId": "ROOT", "point": {"x": 0,"y": 0,"z": 0.97}, "accuracy": 0.01},
 		"orientation" : {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0},
 		"lastPosUpdate" : "2021-10-14T19:32:20+00:00",
-		"zoneDescriptors" : [{"zoneId" : "box_3", "notificationType" : "undefined"}]
+		"zoneDescriptors" : [{"zoneId" : "box_4", "notificationType" : "undefined"}]
 	}
 ]}
 {"objects" : [
@@ -91,6 +91,6 @@
 		"position" : {"refSystemId": "ROOT", "point": {"x": 0,"y": 0,"z": 0.97}, "accuracy": 0.01},
 		"orientation" : {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0},
 		"lastPosUpdate" : "2021-10-14T19:32:20+00:00",
-		"zoneDescriptors" : [{"zoneId" : "shipmentBin_3", "notificationType" : "undefined"}]
+		"zoneDescriptors" : [{"zoneId" : "shipmentBin_2", "notificationType" : "undefined"}]
 	}
 ]}
\ No newline at end of file