update pages

pages/docs/index.md

-# Motion Grammar Parser for JastAdd Example
+# Motion Grammar Parser for JastAdd Examples
 
 A testbed for a potential *motion grammar*[^1] implementation using JastAdd.
 
@@ -23,7 +23,7 @@ elements.
 
 There are no attributes used so far, but at each point where a semantic action takes place, the AST is printed to a
 file in `src/gen/resources/diagrams/parsing`, demonstrating the "available" part of the AST, which could be used by
-attributes. This trace is shown [here](/parsing).
+attributes. This trace is shown [here](/load-parsing).
 
 Detailed notes:
 

pages/docs/load-parsing.md

+# Parsing the Load/Unload World
+
+| Action | World                                                        | Motion Grammar                                     |
+|--------|--------------------------------------------------------------|----------------------------------------------------|
+|        | ![](diagrams/parsing/load/Context-World-000-initial.png)     |                                                    |
+| Load   | ![](diagrams/parsing/load/Context-World-001-parseLoad.png)   | ![](diagrams/parsing/load/AST-001-parseLoad.png)   |
+| Load   | ![](diagrams/parsing/load/Context-World-002-parseLoad.png)   | ![](diagrams/parsing/load/AST-002-parseLoad.png)   |
+| Load   | ![](diagrams/parsing/load/Context-World-003-parseLoad.png)   | ![](diagrams/parsing/load/AST-003-parseLoad.png)   |
+| Full   | ![](diagrams/parsing/load/Context-World-004-parseFull.png)   | ![](diagrams/parsing/load/AST-004-parseFull.png)   |
+| T2     | ![](diagrams/parsing/load/Context-World-005-parseT2.png)     | ![](diagrams/parsing/load/AST-005-parseT2.png)     |
+| T      | ![](diagrams/parsing/load/Context-World-006-parseT.png)      | ![](diagrams/parsing/load/AST-006-parseT.png)      |
+| Unload | ![](diagrams/parsing/load/Context-World-007-parseUnload.png) | ![](diagrams/parsing/load/AST-007-parseUnload.png) |
+| T1     | ![](diagrams/parsing/load/Context-World-008-parseT1.png)     | ![](diagrams/parsing/load/AST-008-parseT1.png)     |
+| T      | ![](diagrams/parsing/load/Context-World-009-parseT.png)      | ![](diagrams/parsing/load/AST-009-parseT.png)      |
+| Unload | ![](diagrams/parsing/load/Context-World-010-parseUnload.png) | ![](diagrams/parsing/load/AST-010-parseUnload.png) |
+| T1     | ![](diagrams/parsing/load/Context-World-011-parseT1.png)     | ![](diagrams/parsing/load/AST-011-parseT1.png)     |
+| T      | ![](diagrams/parsing/load/Context-World-012-parseT.png)      | ![](diagrams/parsing/load/AST-012-parseT.png)      |
+| Unload | ![](diagrams/parsing/load/Context-World-013-parseUnload.png) | ![](diagrams/parsing/load/AST-013-parseUnload.png) |
+| T1     | ![](diagrams/parsing/load/Context-World-014-parseT1.png)     | ![](diagrams/parsing/load/AST-014-parseT1.png)     |
+| T      | ![](diagrams/parsing/load/Context-World-015-parseT.png)      | ![](diagrams/parsing/load/AST-015-parseT.png)      |
+|        | ![](diagrams/parsing/load/Context-World-016-complete.png)    | ![](diagrams/parsing/load/AST-016-complete.png)    |

pages/docs/load.md

+# The Load/Unload Grammar
+
+The motion grammar describes the Load/Unload scenario from Dantam[^1]. The point of this very simple grammar was *not*
+to show how motion grammars work, but rather the expressiveness of a CFG (compared to a regular grammar), but it is very
+simple, so it serves as a starting point.
+
+![](diagrams/grammar/loading.png)
+
+The grammar comprises three parts. `MotionGrammar` contains generic nonterminals present in every motion
+grammar, `LoadUnload` has the actual nonterminals of the grammar, and `World` describes the context within which the
+grammar is parsed.
+
+## Execution (Parsing) and Implementation Details
+
+Currently, the parser reads a sequence of `Load`, `Unload`, and `Full` tokens and loads a `Container` with up to ten
+elements.
+
+There are no attributes used so far, but at each point where a semantic action takes place, the AST is printed to a file
+in `src/gen/resources/diagrams/parsing`, demonstrating the "available" part of the AST, which could be used by
+attributes. This trace is shown [here](/load-parsing).
+
+Detailed notes:
+
+- Tokens can have semantic actions. This might be a difference to the original motion grammar concept, but could easily
+  be simulated by adding another nonterminal enclosing each token.
+- The `Load` token currently can always be parsed. This is problematic, since it requires a fixed order in the parser
+  rule for `T`. A workaround would be to introduce a new token `NotFull` before the load token.
+- The parser `Worldparser.java` uses three kinds of parse methods:
+    - `parse` distinguishes an abstract rule (for `T`, but since it is the entrypoint, it has this generic name). This
+      only works like this if the abstract rule does *not* have any elements, which can be achieved by a simple
+      transformation, but maybe breaks the attribute part of the grammar. This method needs a lookahead, which is done
+      by a peek method. The peek method actually parses the next token and keeps it in a cache, which is read by the
+      token parse method later.
+    - `parseT1` and `parseT2` do not need lookahead.
+    - `parseLoad`, `parseUnload`, and `parseFull` parse tokens.
+- There are no thoughts on parsing lists and optional children yet.
+
+## Bibliogaphy
+
+[^1]: Dantam, N., Stilman, M., 2013. The Motion Grammar: Analysis of a Linguistic Method for Robot Control. IEEE Trans.
+Robot. 29, 704–718. https://doi.org/10.1109/TRO.2013.2239553
+

pages/docs/parsing.md

-# Parsing the Load/Unload World
-
-| Action | World                                                                           | Motion Grammar                                                         |
-|--------|---------------------------------------------------------------------------------|------------------------------------------------------------------------|
-|        | ![](diagrams/parsing/Context-World-000-initial.png)     |                                                                        |
-| Load   | ![](diagrams/parsing/Context-World-001-parseLoad.png)   | ![](diagrams/parsing/AST-001-parseLoad.png)    |
-| Load   | ![](diagrams/parsing/Context-World-002-parseLoad.png)   | ![](diagrams/parsing/AST-002-parseLoad.png)    |
-| Load   | ![](diagrams/parsing/Context-World-003-parseLoad.png)   | ![](diagrams/parsing/AST-003-parseLoad.png)    |
-| Full   | ![](diagrams/parsing/Context-World-004-parseFull.png)   | ![](diagrams/parsing/AST-004-parseFull.png)    |
-| T2     | ![](diagrams/parsing/Context-World-005-parseT2.png)     | ![](diagrams/parsing/AST-005-parseT2.png)      |
-| T      | ![](diagrams/parsing/Context-World-006-parseT.png)      | ![](diagrams/parsing/AST-006-parseT.png)       |
-| Unload | ![](diagrams/parsing/Context-World-007-parseUnload.png) | ![](diagrams/parsing/AST-007-parseUnload.png)  |
-| T1     | ![](diagrams/parsing/Context-World-008-parseT1.png)     | ![](diagrams/parsing/AST-008-parseT1.png)      |
-| T      | ![](diagrams/parsing/Context-World-009-parseT.png)      | ![](diagrams/parsing/AST-009-parseT.png)       |
-| Unload | ![](diagrams/parsing/Context-World-010-parseUnload.png) | ![](diagrams/parsing/AST-010-parseUnload.png)  |
-| T1     | ![](diagrams/parsing/Context-World-011-parseT1.png)     | ![](diagrams/parsing/AST-011-parseT1.png)      |
-| T      | ![](diagrams/parsing/Context-World-012-parseT.png)      | ![](diagrams/parsing/AST-012-parseT.png)       |
-| Unload | ![](diagrams/parsing/Context-World-013-parseUnload.png) | ![](diagrams/parsing/AST-013-parseUnload.png)  |
-| T1     | ![](diagrams/parsing/Context-World-014-parseT1.png)     | ![](diagrams/parsing/AST-014-parseT1.png)      |
-| T      | ![](diagrams/parsing/Context-World-015-parseT.png)      | ![](diagrams/parsing/AST-015-parseT.png)       |
-|        | ![](diagrams/parsing/Context-World-016-complete.png)    | ![](diagrams/parsing/AST-016-complete.png)     |

pages/docs/sorting-parsing.md

+# Parsing the Robot Sorting World
+
+| Action                    | World                                                                          | Motion Grammar                                                       |
+|---------------------------|--------------------------------------------------------------------------------|----------------------------------------------------------------------|
+|                           | ![](diagrams/parsing/tidy/Context-World-000-initial.png)                       |                                                                      |
+| ObjectAtWrongPlace        | ![](diagrams/parsing/tidy/Context-World-001-parseObjectAtWrongPlace.png)       | ![](diagrams/parsing/tidy/AST-001-parseObjectAtWrongPlace.png)       |
+| RobotIsFree               | ![](diagrams/parsing/tidy/Context-World-002-parseRobotIsFree.png)              | ![](diagrams/parsing/tidy/AST-002-parseRobotIsFree.png)              |
+| RobotIsReallyReadyToPick  | ![](diagrams/parsing/tidy/Context-World-003-parseRobotIsReallyReadyToPick.png) | ![](diagrams/parsing/tidy/AST-003-parseRobotIsReallyReadyToPick.png) |
+| PickUpObject              | ![](diagrams/parsing/tidy/Context-World-004-parsePickUpObject.png)             | ![](diagrams/parsing/tidy/AST-004-parsePickUpObject.png)             |
+| Pick                      | ![](diagrams/parsing/tidy/Context-World-005-parsePick.png)                     | ![](diagrams/parsing/tidy/AST-005-parsePick.png)                     |
+| PickUpObject              | ![](diagrams/parsing/tidy/Context-World-006-parsePickUpObject.png)             | ![](diagrams/parsing/tidy/AST-006-parsePickUpObject.png)             |
+| RightPlace                | ![](diagrams/parsing/tidy/Context-World-007-parseRightPlace.png)               | ![](diagrams/parsing/tidy/AST-007-parseRightPlace.png)               |
+| Drop                      | ![](diagrams/parsing/tidy/Context-World-008-parseDrop.png)                     | ![](diagrams/parsing/tidy/AST-008-parseDrop.png)                     |
+| DropObjectAtRightPlace    | ![](diagrams/parsing/tidy/Context-World-009-parseDropObjectAtRightPlace.png)   | ![](diagrams/parsing/tidy/AST-009-parseDropObjectAtRightPlace.png)   |
+| MoveObjectToCorrectPlace  | ![](diagrams/parsing/tidy/Context-World-010-parseMoveObjectToCorrectPlace.png) | ![](diagrams/parsing/tidy/AST-010-parseMoveObjectToCorrectPlace.png) |
+| ObjectAtWrongPlace        | ![](diagrams/parsing/tidy/Context-World-011-parseObjectAtWrongPlace.png)       | ![](diagrams/parsing/tidy/AST-011-parseObjectAtWrongPlace.png)       |
+| RobotIsBusy               | ![](diagrams/parsing/tidy/Context-World-012-parseRobotIsBusy.png)              | ![](diagrams/parsing/tidy/AST-012-parseRobotIsBusy.png)              |
+| Wait                      | ![](diagrams/parsing/tidy/Context-World-013-parseWait.png)                     | ![](diagrams/parsing/tidy/AST-013-parseWait.png)                     |
+| RobotIsBusy               | ![](diagrams/parsing/tidy/Context-World-014-parseRobotIsBusy.png)              | ![](diagrams/parsing/tidy/AST-014-parseRobotIsBusy.png)              |
+| Wait                      | ![](diagrams/parsing/tidy/Context-World-015-parseWait.png)                     | ![](diagrams/parsing/tidy/AST-015-parseWait.png)                     |
+| RobotIsFree               | ![](diagrams/parsing/tidy/Context-World-016-parseRobotIsFree.png)              | ![](diagrams/parsing/tidy/AST-016-parseRobotIsFree.png)              |
+| RobotIsReallyReadyToPick  | ![](diagrams/parsing/tidy/Context-World-017-parseRobotIsReallyReadyToPick.png) | ![](diagrams/parsing/tidy/AST-017-parseRobotIsReallyReadyToPick.png) |
+| PickUpObject              | ![](diagrams/parsing/tidy/Context-World-018-parsePickUpObject.png)             | ![](diagrams/parsing/tidy/AST-018-parsePickUpObject.png)             |
+| RobotIsNotReadyToPick     | ![](diagrams/parsing/tidy/Context-World-019-parseRobotIsNotReadyToPick.png)    | ![](diagrams/parsing/tidy/AST-019-parseRobotIsNotReadyToPick.png)    |
+| PickUpObject              | ![](diagrams/parsing/tidy/Context-World-020-parsePickUpObject.png)             | ![](diagrams/parsing/tidy/AST-020-parsePickUpObject.png)             |
+| RobotIsNotReadyToPick     | ![](diagrams/parsing/tidy/Context-World-021-parseRobotIsNotReadyToPick.png)    | ![](diagrams/parsing/tidy/AST-021-parseRobotIsNotReadyToPick.png)    |
+| PickUpObject              | ![](diagrams/parsing/tidy/Context-World-022-parsePickUpObject.png)             | ![](diagrams/parsing/tidy/AST-022-parsePickUpObject.png)             |
+| Pick                      | ![](diagrams/parsing/tidy/Context-World-023-parsePick.png)                     | ![](diagrams/parsing/tidy/AST-023-parsePick.png)                     |
+| PickUpObject              | ![](diagrams/parsing/tidy/Context-World-024-parsePickUpObject.png)             | ![](diagrams/parsing/tidy/AST-024-parsePickUpObject.png)             |
+| RightPlace                | ![](diagrams/parsing/tidy/Context-World-025-parseRightPlace.png)               | ![](diagrams/parsing/tidy/AST-025-parseRightPlace.png)               |
+| Drop                      | ![](diagrams/parsing/tidy/Context-World-026-parseDrop.png)                     | ![](diagrams/parsing/tidy/AST-026-parseDrop.png)                     |
+| DropObjectAtRightPlace    | ![](diagrams/parsing/tidy/Context-World-027-parseDropObjectAtRightPlace.png)   | ![](diagrams/parsing/tidy/AST-027-parseDropObjectAtRightPlace.png)   |
+| MoveObjectToCorrectPlace  | ![](diagrams/parsing/tidy/Context-World-028-parseMoveObjectToCorrectPlace.png) | ![](diagrams/parsing/tidy/AST-028-parseMoveObjectToCorrectPlace.png) |
+| NotEmptyTable             | ![](diagrams/parsing/tidy/Context-World-029-parseNotEmptyTable.png)            | ![](diagrams/parsing/tidy/AST-029-parseNotEmptyTable.png)            |
+| Wait                      | ![](diagrams/parsing/tidy/Context-World-030-parseWait.png)                     | ![](diagrams/parsing/tidy/AST-030-parseWait.png)                     |
+| WaitForEmptyTable         | ![](diagrams/parsing/tidy/Context-World-031-parseWaitForEmptyTable.png)        | ![](diagrams/parsing/tidy/AST-031-parseWaitForEmptyTable.png)        |
+| EmptyTable                | ![](diagrams/parsing/tidy/Context-World-032-parseEmptyTable.png)               | ![](diagrams/parsing/tidy/AST-032-parseEmptyTable.png)               |
+| Tidy                      | ![](diagrams/parsing/tidy/Context-World-033-parseTidy.png)                     | ![](diagrams/parsing/tidy/AST-033-parseTidy.png)                     |
+|                           | ![](diagrams/parsing/tidy/Context-World-034-complete.png)                      | ![](diagrams/parsing/tidy/AST-034-complete.png)                      |
+

pages/docs/sorting.md

+# The Robot Sorting Grammar
+
+![](diagrams/grammar/cleaning.png)

pages/mkdocs.yml

@@ -4,7 +4,12 @@ site_dir: ../public
 
 nav:
   - "Overview": index.md
-  - "Parsing Example": parsing.md
+  - "Load-Unload Grammar":
+      - "Overview": load.md
+      - "Parsing": load-parsing.md
+  - "Sorting Example":
+      - "Overview": sorting.md
+      - "Parsing": sorting-parsing.md
   - "API documentation": ragdoc/index.html
 
 theme:

src/main/jastadd/cleanup/RobotWorld.jadd

@@ -4,10 +4,8 @@ aspect RobotWorld {
     Table t = new Table();
     t.addPhysicalObject(new Bin("binRed", Pose.of(-10, -10, 0), "red"));
     t.addPhysicalObject(new Bin("binGreen", Pose.of(-10, 0, 0), "green"));
-    t.addPhysicalObject(new Bin("binBlue", Pose.of(-10, 10, 0), "blue"));
     t.addPhysicalObject(new MovableObject("boxRed", Pose.of(-5, -10, 0), "red"));
     t.addPhysicalObject(new MovableObject("boxGreen", Pose.of(-5, 0, 0), "green"));
-    t.addPhysicalObject(new MovableObject("boxBlue", Pose.of(-5, 10, 0), "blue"));
     Robot b = new Robot();
     b.setIsIdle(true);
     return new RobotScene(t, b);

src/main/jastadd/cleanup/SemanticActions.jadd

@@ -8,11 +8,11 @@ aspect SemanticActions {
       @Override
       public void run() {
         scene.getRobot().setIsIdle(false);
-        try { Thread.sleep(1500); } catch (InterruptedException e) { /* ignore */ }
+        try { Thread.sleep(1200); } catch (InterruptedException e) { /* ignore */ }
         MovableObject object = scene.getTable().getMovableObjectByName(objectName);
         scene.getRobot().setAttachedItem(object);
         object.setPose(Pose.of(-1,-1,-1));
-        try { Thread.sleep(2500); } catch (InterruptedException e) { /* ignore */ }
+        try { Thread.sleep(1200); } catch (InterruptedException e) { /* ignore */ }
         scene.getRobot().setIsIdle(true);
       }
     });
@@ -27,12 +27,12 @@ aspect SemanticActions {
       @Override
       public void run() {
         scene.getRobot().setIsIdle(false);
-        try { Thread.sleep(3500); } catch (InterruptedException e) { /* ignore */ }
+        try { Thread.sleep(1200); } catch (InterruptedException e) { /* ignore */ }
         MovableObject object = scene.getTable().getMovableObjectByName(objectName);
         Bin bin = scene.getTable().getBinByName(placeName);
         object.setPose(Pose.of(bin.getPose()));
         scene.getRobot().setAttachedItem(null);
-        try { Thread.sleep(1500); } catch (InterruptedException e) { /* ignore */ }
+        try { Thread.sleep(1200); } catch (InterruptedException e) { /* ignore */ }
         scene.getRobot().setIsIdle(true);
       }
     });