diff --git a/ros3rag.placeA/src/main/jastadd/WorldModelA.jadd b/ros3rag.placeA/src/main/jastadd/WorldModelA.jadd
index ea860569937ed09e8b5f576511c45e5ab565945d..b9dd1eebab6bf09ba350bce028e8f6bac4349695 100644
--- a/ros3rag.placeA/src/main/jastadd/WorldModelA.jadd
+++ b/ros3rag.placeA/src/main/jastadd/WorldModelA.jadd
@@ -1,4 +1,5 @@
 aspect Resolving {
+  //--- resolveObjectOfInterest ---
   inh ObjectOfInterest Robot.resolveObjectOfInterest(String name);
   eq WorldModelA.getRobot().resolveObjectOfInterest(String name) {
     return getScene().resolveObjectOfInterest(name);
@@ -7,5 +8,7 @@ aspect Resolving {
 
 aspect Glue {
   class WorldModelA implements de.tudresden.inf.st.ros3rag.common.SharedMainParts.WorldModelWrapper {}
+
+  //--- getLogicalScene ---
   syn LogicalScene WorldModelA.getLogicalScene() = hasScene() ? getScene().getLogicalScene() : new LogicalScene();
 }
diff --git a/ros3rag.placeA/src/main/jastadd/WorldModelA.relast b/ros3rag.placeA/src/main/jastadd/WorldModelA.relast
index 4ddddbdf13b7ee582048c4e1253171bc1d97b74a..4089553a078bf8fb2d1cbdda036562f9ce309b68 100644
--- a/ros3rag.placeA/src/main/jastadd/WorldModelA.relast
+++ b/ros3rag.placeA/src/main/jastadd/WorldModelA.relast
@@ -1,5 +1,3 @@
-WorldModelA ::= Robot [Scene] /LogicalScene/ ; //Task* ;
+WorldModelA ::= Robot [Scene] /LogicalScene/ ;
 
 Robot ::= <Name:String> ;
-
-//Task ::= ObjectToMove:MovableObject TargetLocation:DropOffLocation ;
diff --git a/ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/SimpleMainB.java b/ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/SimpleMainB.java
index 9e55144a3e662ba84e7eb7805cfdf0ac5facca01..5b9c8e0cd38e208ca303cd35054bfb1aaf32820e 100644
--- a/ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/SimpleMainB.java
+++ b/ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/SimpleMainB.java
@@ -16,6 +16,7 @@ import java.nio.file.Paths;
 import java.util.concurrent.TimeUnit;
 
 import static de.tudresden.inf.st.ros3rag.common.Util.mqttUri;
+import static de.tudresden.inf.st.ros3rag.common.Util.readScene;
 
 /**
  * Testing features for placeB.
@@ -35,7 +36,41 @@ public class SimpleMainB {
 //    testBuildModelB();
 //    testReceivingModelB();
 //    testReachability();
-    testWeirdBehaviour();
+//    testWeirdBehaviour();
+    printReachability();
+  }
+
+  private void printReachability() throws Exception {
+    de.tudresden.inf.st.ceti.Scene scene = readScene(
+        UtilB.pathToDirectoryOfPlaceB().resolve("src/main/resources/config-scene-b.json")
+    );
+
+    Scene myScene = UtilB.convert(scene);
+    float arm1X = 0f;
+    float arm1Y = 0f;
+    float arm1Z = 0.75f;
+
+    float arm2X = 1f;
+    float arm2Y = 0f;
+    float arm2Z = 0.75f;
+
+    for (var location : myScene.getDropOffLocationList()) {
+      check(arm1X, arm1Y, arm1Z, location.getPosition(), "arm1", location.getName());
+      check(arm2X, arm2Y, arm2Z, location.getPosition(), "arm2", location.getName());
+    }
+  }
+
+  private void check(float x, float y, float z, Position position, String robotName, String locationName) {
+    float dx = x - position.getX();
+    float dy = y - position.getY();
+    float dz = z - position.getZ();
+
+    if (Math.sqrt(dx*dx + dy*dy) < 0.05) {
+      System.out.println(robotName + " too close to " + locationName);
+    }
+    if (Math.sqrt(dx*dx + dy*dy + dz*dz) > 0.75) {
+      System.out.println(robotName + " too far away from " + locationName);
+    }
   }
 
   private void testWeirdBehaviour() throws IOException {
diff --git a/ros3rag.placeB/src/main/resources/config-scene-b.json b/ros3rag.placeB/src/main/resources/config-scene-b.json
index 1cb23282e9fd86efd877f6c5e8d35ebd2ec04e47..ce9ba28dfa0cf2e66a8c31491492a75656fe6ca8 100644
--- a/ros3rag.placeB/src/main/resources/config-scene-b.json
+++ b/ros3rag.placeB/src/main/resources/config-scene-b.json
@@ -4,7 +4,7 @@
   { "id": "tablePillar3","pos": { "x": -0.77,"y": 0.77,"z": 0.325 },"size": { "length": 0.06,"width": 0.06,"height": 0.65 },"orientation": { "w": 1 },"color": { "r": 255,"g": 222,"b": 173 } },
   { "id": "tablePillar4","pos": { "x": 0.77,"y": -0.77,"z": 0.325 },"size": { "length": 0.06,"width": 0.06,"height": 0.65 },"orientation": { "w": 1 },"color": { "r": 255,"g": 222,"b": 173 } },
   { "id": "table","pos": { "z": 0.7 },"size": { "length": 1.6,"width": 1.6,"height": 0.1 },"orientation": { "w": 1 },"color": { "r": 255,"g": 222,"b": 173 } },
-  { "id": "binBlue","type": "DROP_OFF_LOCATION","pos": { "x": -0.34,"y": 0.49,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "b": 1 } },
+  { "id": "binBlue","type": "DROP_OFF_LOCATION","pos": { "x": 1.34,"y": 0.49,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "b": 1 } },
   { "id": "binRed","type": "DROP_OFF_LOCATION","pos": { "x": 0.06,"y": 0.49,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "r": 1 } },
   { "id": "binGreen","type": "DROP_OFF_LOCATION","pos": { "x": 0.46,"y": 0.49,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "g": 1 } },
   { "id": "objectRed1","type": "BOX","pos": { "x": 0.5,"y": -0.1,"z": 0.8105 },"size": { "length": 0.031,"width": 0.062,"height": 0.121 },"orientation": { "z": 0.382683,"w": 0.92388 },"color": { "r": 1 } },