working on real collaboration

- update config file structure
- add new configs
- (temporarily) ignore height for isLocatedAt
- ignore unresolved locations when computing operations
- handle unresolved robots

ros3rag.common/src/main/java/de/tudresden/inf/st/ros3rag/common/Configuration.java

@@ -12,14 +12,12 @@ import java.util.List;
 @JsonIgnoreProperties(ignoreUnknown = true)
 public class Configuration {
   public String mqttHost;
-  public String filenameInitialScene;
+  public String filenameInitialSceneA;
   public String filenameRegions;
-  public boolean useReachability;
   public String coordinatorMqttTopicPrefix;
   public List<ReachabilityConfig> reachability;
 
   public static class ReachabilityConfig {
-    public String idRobot;
     public String filename;
   }
 

ros3rag.common/src/main/java/de/tudresden/inf/st/ros3rag/common/SharedMainParts.java

 package de.tudresden.inf.st.ros3rag.common;
 
-import de.tudresden.inf.st.ceti.Scene;
 import org.apache.logging.log4j.LogManager;
 import org.apache.logging.log4j.Logger;
 
@@ -26,7 +25,6 @@ public abstract class SharedMainParts<MqttHandler extends SharedMainParts.MqttHa
   private final String TOPIC_STATUS;
   private final String TOPIC_REWIND;
   private final String TOPIC_EXIT;
-  private final String TOPIC_SCENE_INIT;
 
   private static final String TOPIC_SUFFIX_COORDINATOR_STATUS = "status";
   private static final String TOPIC_SUFFIX_COORDINATOR_COMMAND = "command";
@@ -46,12 +44,8 @@ public abstract class SharedMainParts<MqttHandler extends SharedMainParts.MqttHa
     this.TOPIC_STATUS = cellName + "/status";
     this.TOPIC_REWIND = cellName + "/rewind";
     this.TOPIC_EXIT = cellName + "/exit";
-
-    this.TOPIC_SCENE_INIT = cellName + "/scene/init";
   }
 
-  protected abstract MqttHandler createMqttHandler();
-
   private Map<String, String> channelDescriptions() {
     return new LinkedHashMap<>() {{
       put(TOPIC_MODEL, "Print current model (detailed if message starts with 'detail')");
@@ -137,8 +131,6 @@ public abstract class SharedMainParts<MqttHandler extends SharedMainParts.MqttHa
     }
   }
 
-  protected abstract void createSpecificMainHandlerConnections();
-
   private void rewind(String statusMessage) throws Exception {
     if (model != null) {
       logger.debug("Closing previous connections for {}", cellName);
@@ -147,8 +139,8 @@ public abstract class SharedMainParts<MqttHandler extends SharedMainParts.MqttHa
     logger.debug("Creating world model for {}", cellName);
     model = createWorldModel();
 
-    logger.debug("Reading scene for {}", cellName);
-    Scene scene = readSceneAndRobots();
+    logger.debug("Reading robots for {}", cellName);
+    readRobotsAndReachability();
 
     logger.debug("Setup model connection for {}", cellName);
     model.ragconnectCheckIncremental();
@@ -167,7 +159,6 @@ public abstract class SharedMainParts<MqttHandler extends SharedMainParts.MqttHa
 
     logStatus(statusMessage);
 
-    mainHandler.publish(TOPIC_SCENE_INIT, scene.toByteArray());
     if (config.useCoordinator()) {
       logger.debug("Publishing ready for {}", cellName);
       mainHandler.publish(joinTopics(config.coordinatorMqttTopicPrefix, TOPIC_SUFFIX_COORDINATOR_STATUS),
@@ -175,11 +166,15 @@ public abstract class SharedMainParts<MqttHandler extends SharedMainParts.MqttHa
     }
   }
 
-  protected abstract Scene readSceneAndRobots() throws Exception;
+  protected abstract MqttHandler createMqttHandler();
 
-  protected abstract void connectEndpoints() throws IOException;
+  protected abstract void createSpecificMainHandlerConnections();
+
+  protected abstract WorldModel createWorldModel() throws Exception;
 
-  protected abstract WorldModel createWorldModel();
+  protected abstract void readRobotsAndReachability() throws Exception;
+
+  protected abstract void connectEndpoints() throws IOException;
 
   protected abstract String getModelInfos(WorldModel model, boolean detailed);
 

ros3rag.common/src/main/resources/jastadd/types.jadd

@@ -40,7 +40,8 @@ aspect Resolving {
 
   syn DropOffLocation LogicalMovableObject.myLocation() {
     // classical reference attribute (was relation, but not allowed with RagConnect)
-    return containingScene().resolveObjectOfInterest(getNameOfMyLocation()).asDropOffLocation();
+    ObjectOfInterest obj = containingScene().resolveObjectOfInterest(getNameOfMyLocation());
+    return obj == null ? null : obj.asDropOffLocation();
   }
 }
 
@@ -66,7 +67,7 @@ aspect Computation {
     // we use half of the size of to the position as it is in the center of the location
     double halfLocationLength = 0.5 * locationSize.getLength();
     double halfLocationWidth = 0.5 * locationSize.getWidth();
-    double halfLocationHeight = 0.5 * locationSize.getHeight();
+//    double halfLocationHeight = 0.5 * locationSize.getHeight();
 
     double rotatedX = rotatedObjectVector.getX();
     double rotatedY = rotatedObjectVector.getY();
@@ -80,8 +81,8 @@ aspect Computation {
 //      halfLocationHeight);
 
     return  LT(-halfLocationLength, rotatedX) && LT(rotatedX, halfLocationLength) &&
-       LT(-halfLocationWidth, rotatedY) && LT(rotatedY, halfLocationWidth) &&
-       LT(-halfLocationHeight, rotatedZ) && LT(rotatedZ, halfLocationHeight);
+       LT(-halfLocationWidth, rotatedY) && LT(rotatedY, halfLocationWidth); // &&
+       //LT(-halfLocationHeight, rotatedZ) && LT(rotatedZ, halfLocationHeight);
   }
 
   syn MovableObject DropOffLocation.getObjectLocatedHere() {

ros3rag.placeA/src/main/java/de/tudresden/inf/st/placeA/MainA.java

@@ -38,6 +38,11 @@ public class MainA extends SharedMainParts<MqttHandler, WorldModelA> {
     new MainA(configFile).run();
   }
 
+  @Override
+  protected MqttHandler createMqttHandler() {
+    return new MqttHandler("mainHandlerA");
+  }
+
   @Override
   protected void createSpecificMainHandlerConnections() {
     mainHandler.newConnection(TOPIC_DEMO_MOVE_objectRed1_BLUE, bytes ->
@@ -55,17 +60,17 @@ public class MainA extends SharedMainParts<MqttHandler, WorldModelA> {
   }
 
   @Override
-  protected de.tudresden.inf.st.ceti.Scene readSceneAndRobots() throws Exception {
-    /// Reading scene
+  protected WorldModelA createWorldModel() throws Exception {
     de.tudresden.inf.st.ceti.Scene scene = readScene(
-        UtilA.pathToDirectoryOfPlaceA().resolve(config.filenameInitialScene)
+        UtilA.pathToDirectoryOfPlaceA().resolve(config.filenameInitialSceneA)
     );
     Scene myScene = UtilA.convert(scene);
-    model.setScene(myScene);
+    return new WorldModelA().setScene(myScene);
+  }
 
+  @Override
+  protected void readRobotsAndReachability() {
     // no robots to be set
-
-    return scene;
   }
 
   @Override
@@ -74,16 +79,6 @@ public class MainA extends SharedMainParts<MqttHandler, WorldModelA> {
     model.connectLogicalScene(mqttUri(TOPIC_SCENE_UPDATE_TO_PLACE_B, config), true);
   }
 
-  @Override
-  protected MqttHandler createMqttHandler() {
-    return new MqttHandler("mainHandlerA");
-  }
-
-  @Override
-  protected WorldModelA createWorldModel() {
-    return new WorldModelA();
-  }
-
   @Override
   protected String getModelInfos(WorldModelA worldModelA, boolean detailed) {
     return UtilA.getModelInfos(model, detailed);

ros3rag.placeA/src/main/resources/config-a.yaml

 mqttHost: "localhost"
-filenameInitialScene: "src/main/resources/config-scene-a.json"
-useReachability: false
+filenameInitialSceneA: "src/main/resources/config-scene-a.json"
 coordinatorMqttTopicPrefix: "coordinating/rag-a"

ros3rag.placeA/src/main/resources/config-scene-a-placeworld-manual.json

+config-scene-a-placeworld.json
\ No newline at end of file

ros3rag.placeA/src/main/resources/config-scene-a-placeworld.json

+{ "objects": [
+  { "id": "target","type": "DROP_OFF_LOCATION","pos": { "x": 8,"y": 3,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "r": 1 } },
+  { "id": "bigBlue","type": "BOX","pos": { "x": 8,"y": 3,"z": 0.8105 },"size": { "length": 0.031,"width": 0.062,"height": 0.121 },"orientation": { "z": 0.382683,"w": 0.92388 },"color": { "r": 1 } }
+] }

ros3rag.placeA/src/main/resources/regions-a-placeworld-manual.json

+regions-a-placeworld.json
\ No newline at end of file

ros3rag.placeA/src/main/resources/regions-a-placeworld.json

+{
+  "regions": [
+    { "name": "G", "positions": ["target"] }
+  ]
+}

ros3rag.placeB/src/main/jastadd/RobotReachabilityToBFS.jrag

@@ -24,6 +24,7 @@ aspect RobotReachabilityToBFS {
         continue;
       }
       List<DropOffLocation> reachableLocations = robot.reachableObjects().stream()
+          .filter(Objects::nonNull)
           .filter(ObjectOfInterest::isDropOffLocation)
           .map(ObjectOfInterest::asDropOffLocation)
           .collect(java.util.stream.Collectors.toList());

ros3rag.placeB/src/main/jastadd/WorldModelB.jadd

@@ -350,7 +350,10 @@ aspect Navigation {
     return result;
   }
 
-  syn boolean Robot.isBusy() = worldModelB().getMyScene().resolveObjectOfInterest(getName()).asRobotObject().getActive();
+  syn boolean Robot.isBusy() {
+    ObjectOfInterest obj = worldModelB().getMyScene().resolveObjectOfInterest(getName());
+    return obj == null ? false : obj.asRobotObject().getActive();
+  }
 }
 
 aspect GlueForShared {

ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/MainB.java

@@ -4,14 +4,12 @@ import de.tudresden.inf.st.ceti.Reachability;
 import de.tudresden.inf.st.placeB.ast.*;
 import de.tudresden.inf.st.ros3rag.common.Configuration;
 import de.tudresden.inf.st.ros3rag.common.SharedMainParts;
-import de.tudresden.inf.st.ros3rag.common.Util;
 
 import java.io.IOException;
 import java.nio.file.Path;
 import java.nio.file.Paths;
 
 import static de.tudresden.inf.st.ros3rag.common.Util.mqttUri;
-import static de.tudresden.inf.st.ros3rag.common.Util.readScene;
 
 /**
  * Entry point for RAG model in place B.
@@ -19,7 +17,6 @@ import static de.tudresden.inf.st.ros3rag.common.Util.readScene;
  * @author rschoene - Initial contribution
  */
 public class MainB extends SharedMainParts<MqttHandler, WorldModelB> {
-  private final String TOPIC_ROBOT_REACHABILITY;
   private final String TOPIC_MY_SCENE_UPDATE_FROM_ROS;
   private final String TOPIC_COMMAND;
   private final String TOPIC_OTHER_SCENE_UPDATE_FROM_PLACE_A;
@@ -27,7 +24,6 @@ public class MainB extends SharedMainParts<MqttHandler, WorldModelB> {
 
   MainB(String configFile) {
     super("place-b", UtilB.pathToDirectoryOfPlaceB().resolve(configFile));
-    this.TOPIC_ROBOT_REACHABILITY = cellName + "/reachability/%s";
     this.TOPIC_MY_SCENE_UPDATE_FROM_ROS = cellName + "/scene/update";
     this.TOPIC_COMMAND = cellName + "/command";
 
@@ -41,6 +37,11 @@ public class MainB extends SharedMainParts<MqttHandler, WorldModelB> {
     new MainB(configFile).run();
   }
 
+  @Override
+  protected MqttHandler createMqttHandler() {
+    return new MqttHandler("mainHandlerB");
+  }
+
   @Override
   protected void createSpecificMainHandlerConnections() {
     mainHandler.newConnection(TOPIC_DEMO_MOVE_objectRed1_RED, bytes ->
@@ -49,53 +50,39 @@ public class MainB extends SharedMainParts<MqttHandler, WorldModelB> {
   }
 
   @Override
-  protected de.tudresden.inf.st.ceti.Scene readSceneAndRobots() throws Exception {
-    /// Reading scene and robots
-    de.tudresden.inf.st.ceti.Scene scene = readScene(
-        UtilB.pathToDirectoryOfPlaceB().resolve(config.filenameInitialScene)
-    );
-    Scene myScene = UtilB.convert(scene);
-    model.setMyScene(myScene);
-    for (String name : Util.extractRobotNames(scene)) {
-      Robot robot = UtilB.createRobot(name);
-      model.addRobot(robot);
-      // assumption: robots do not change during runtime, so we have stable connections
-      robot.connectCanReachObjectOfInterestWrapper(mqttUri(String.format(TOPIC_ROBOT_REACHABILITY, name), config));
+  protected WorldModelB createWorldModel() {
+    WorldModelB result = new WorldModelB();
+    result.addOtherScene(new LogicalScene());
+    return result;
   }
 
-    /// Set (dummy) reachability, if configured
-    if (config.useReachability) {
+  @Override
+  protected void readRobotsAndReachability() throws Exception {
+    model.setMyScene(new Scene());
+
+    // init robots and reachability
     for (Configuration.ReachabilityConfig reachabilityConfig : config.reachability) {
-        Robot robot = model.findRobot(reachabilityConfig.idRobot).orElseThrow(
-            () -> new IllegalArgumentException("Could not find robot with name " + reachabilityConfig.idRobot)
-        );
+      // assumption: robots do not change during runtime, so we have stable connections
       Path path = UtilB.pathToDirectoryOfPlaceB().resolve(Paths.get(reachabilityConfig.filename));
       Reachability reachability = UtilB.readReachability(path);
+
+      Robot robot = UtilB.createRobot(reachability.getIdRobot());
+      model.addRobot(robot);
+
       CanReachObjectOfInterestWrapper reachabilityWrapper = UtilB.convert(reachability);
       robot.setCanReachObjectOfInterestWrapper(reachabilityWrapper);
     }
   }
 
-    return scene;
-  }
-
   @Override
   protected void connectEndpoints() throws IOException {
     model.connectMyScene(mqttUri(TOPIC_MY_SCENE_UPDATE_FROM_ROS, config));
     model.connectOtherScene(mqttUri(TOPIC_OTHER_SCENE_UPDATE_FROM_PLACE_A, config), 0);
     model.connectNextOperation(mqttUri(TOPIC_COMMAND, config), false);
+    for (Robot robot : model.getRobotList()) {
+      // self-loop
+      robot.connectOwnedCollaborationZoneNames(mqttUri(TOPIC_COMMAND, config));
     }
-
-  @Override
-  protected MqttHandler createMqttHandler() {
-    return new MqttHandler("mainHandlerB");
-  }
-
-  @Override
-  protected WorldModelB createWorldModel() {
-    WorldModelB result = new WorldModelB();
-    result.addOtherScene(new LogicalScene());
-    return result;
   }
 
   @Override

ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/SimpleMainB.java

@@ -28,8 +28,43 @@ import java.util.stream.Collectors;
  */
 public class SimpleMainB {
   private static final Logger logger = LogManager.getLogger(SimpleMainB.class);
-  boolean exitAutomatically = true;
-  boolean useMini = true;
+
+  static class Scenario {
+    final String suffix;
+    final boolean loadAndChangeScenes;
+    final boolean exitAutomatically;
+    final String mqttHost;
+    final String topicSceneUpdateB;
+    final String topicCommand;
+    Scenario(String suffix) {
+      this(suffix, true, true,
+          "localhost", "place-b/scene/update", "place-b/command");
+    }
+    Scenario(String suffix, boolean loadAndChangeScenes, boolean exitAutomatically,
+             String mqttHost, String topicSceneUpdateB, String topicCommand) {
+      this.suffix = suffix;
+      this.loadAndChangeScenes = loadAndChangeScenes;
+      this.exitAutomatically = exitAutomatically;
+      this.mqttHost = mqttHost;
+      this.topicSceneUpdateB = topicSceneUpdateB;
+      this.topicCommand = topicCommand;
+    }
+  }
+  Scenario s2022 = new Scenario("2022");
+  Scenario sMini = new Scenario("mini");
+  Scenario sPlaceworld = new Scenario("placeworld", false, false,
+      "192.168.0.122",
+      "/ceti_cell_placeworld/scene/update",
+      "/ceti_cell_placeworld/command");
+  Scenario sPlaceworldManual = new Scenario("placeworld-manual", false, false,
+      "localhost",
+      "/ceti_cell_placeworld/scene/update",
+      "/ceti_cell_placeworld/command");
+
+  @SuppressWarnings("unused" )
+  Scenario[] allScenarios = new Scenario[] { s2022, sMini, sPlaceworld, sPlaceworldManual };
+
+  final Scenario scenario = sPlaceworldManual;
 
   public static void main(String[] args) throws Exception {
     System.out.println("Running SimpleMainB");
@@ -42,31 +77,29 @@ public class SimpleMainB {
   }
 
   private void readModelAndReceiveFromA() throws Exception {
-    final String suffix = useMini ? "mini" : "2022";
-
     Configuration config = new Configuration();
-    config.mqttHost = "localhost";
-    config.filenameInitialScene = "src/main/resources/config-scene-b-" + suffix + ".json";
-    config.filenameRegions = "src/main/resources/regions-b-" + suffix + ".json";
+    config.mqttHost = scenario.mqttHost;
+    String filenameInitialSceneB = "src/main/resources/config-scene-b-" + scenario.suffix + ".json";
+    config.filenameRegions = "src/main/resources/regions-b-" + scenario.suffix + ".json";
     ReachabilityConfig reachabilityR1 = new ReachabilityConfig();
-    reachabilityR1.idRobot = "R1";
-    reachabilityR1.filename = "src/main/resources/reachability-b-r1-" + suffix + ".json";
+    reachabilityR1.filename = "src/main/resources/reachability-b-r1-" + scenario.suffix + ".json";
     ReachabilityConfig reachabilityR2 = new ReachabilityConfig();
-    reachabilityR2.idRobot = "R2";
-    reachabilityR2.filename = "src/main/resources/reachability-b-r2-" + suffix + ".json";
+    reachabilityR2.filename = "src/main/resources/reachability-b-r2-" + scenario.suffix + ".json";
     config.reachability = Arrays.asList(reachabilityR1, reachabilityR2);
 
     Configuration configA = new Configuration();
-    configA.filenameInitialScene = "src/main/resources/config-scene-a-" + suffix + ".json";
-    configA.filenameRegions = "src/main/resources/regions-a-" + suffix + ".json";
+    String filenameInitialSceneA = "src/main/resources/config-scene-a-" + scenario.suffix + ".json";
+    configA.filenameRegions = "src/main/resources/regions-a-" + scenario.suffix + ".json";
 
-    final String topicSceneUpdateB = "place-b/scene/update";
+    final String topicSceneUpdateB = scenario.topicSceneUpdateB;
     final String topicUpdateFromPlaceA = "update/logical/fromA";
-    final String topicCommand = "place-b/command";
+    final String topicCommand = scenario.topicCommand;
     final String topicExit = "place-b/exit";
     final String topicModel = "place-b/model";
     final String topicModelStatus = "place-b/status";
 
+    logger.info("Using scenario {}", scenario.suffix);
+
     WorldModelB model = new WorldModelB();
     model.addOtherScene(new LogicalScene());
 
@@ -75,30 +108,36 @@ public class SimpleMainB {
     mqttHandler.waitUntilReady(2, TimeUnit.SECONDS);
     model.ragconnectSetupMqttWaitUntilReady(2, TimeUnit.SECONDS);
 
+    Scene myScene;
     // read initial scene
-    Path initialSceneFile = UtilB.pathToDirectoryOfPlaceB().resolve(config.filenameInitialScene);
-    de.tudresden.inf.st.ceti.Scene scene = Util.readScene(initialSceneFile);
-    Scene myScene = UtilB.convert(scene);
+    Path initialSceneFile = UtilB.pathToDirectoryOfPlaceB().resolve(filenameInitialSceneB);
+    de.tudresden.inf.st.ceti.Scene initialScene = Util.readScene(initialSceneFile);
+    if (scenario.loadAndChangeScenes) {
+      myScene = UtilB.convert(initialScene);
+    } else {
+      myScene = new Scene();
+
+      mqttHandler.newConnection("coordinating/rag-b/command", bytes -> {
+        if (new String(bytes).equals("start")) {
+          mqttHandler.publish(scenario.topicSceneUpdateB, initialScene.toByteArray());
+        }
+      });
+    }
     model.setMyScene(myScene);
 
     // read and set regions
     File regionBFile = UtilB.pathToDirectoryOfPlaceB().resolve(config.filenameRegions).toFile();
     UtilB.setRegions(model, Util.parseRegionConfig(regionBFile));
 
-    // init robots (copied from MainB)
-    for (String name : Util.extractRobotNames(scene)) {
-      Robot robot = UtilB.createRobot(name);
-      model.addRobot(robot);
-      // assumption: robots do not change during runtime, so we have stable connections
-    }
-
-    // init reachability (copied from MainB)
+    // init robots and reachability
     for (ReachabilityConfig reachabilityConfig : config.reachability) {
-      Robot robot = model.findRobot(reachabilityConfig.idRobot).orElseThrow(
-          () -> new IllegalArgumentException("Could not find robot with id " + reachabilityConfig.idRobot)
-      );
+      // assumption: robots do not change during runtime, so we have stable connections
       Path path = UtilB.pathToDirectoryOfPlaceB().resolve(Paths.get(reachabilityConfig.filename));
       Reachability reachability = UtilB.readReachability(path);
+
+      Robot robot = UtilB.createRobot(reachability.getIdRobot());
+      model.addRobot(robot);
+
       CanReachObjectOfInterestWrapper reachabilityWrapper = UtilB.convert(reachability);
       robot.setCanReachObjectOfInterestWrapper(reachabilityWrapper);
     }
@@ -138,7 +177,7 @@ public class SimpleMainB {
     });
 
     // read scene from A, serialize it and send it via mqtt
-    Path sceneAFile = Util.pathToModuleDirectory("ros3rag.placeA").resolve(configA.filenameInitialScene);
+    Path sceneAFile = Util.pathToModuleDirectory("ros3rag.placeA").resolve(filenameInitialSceneA);
     File regionAFile = Util.pathToModuleDirectory("ros3rag.placeA").resolve(configA.filenameRegions).toFile();
     de.tudresden.inf.st.ceti.Scene scenePlaceA = Util.readScene(sceneAFile);
     Scene sceneFromPlaceA = UtilB.convert(scenePlaceA);
@@ -149,6 +188,7 @@ public class SimpleMainB {
     LogicalScene logicalSceneFromPlaceA = sceneFromPlaceA.getLogicalScene();
     byte[] bytesToSend = _ragconnect__apply__TreeDefaultLogicalSceneToBytesMapping(logicalSceneFromPlaceA);
 
+    if (scenario.loadAndChangeScenes) {
       describedWait(1, "send new logical scene" );
       mqttHandler.publish(topicUpdateFromPlaceA, bytesToSend);
 
@@ -157,7 +197,7 @@ public class SimpleMainB {
 
       // set object O1 to position of P-E in sceneB and publish it
       describedWait(3, "send updated sceneB (P-E)");
-    scene = updatePositionOfObject(scene, "O1", myScene.resolveObjectOfInterest("P-E").getPosition());
+      de.tudresden.inf.st.ceti.Scene scene = updatePositionOfObject(initialScene, "O1", myScene.resolveObjectOfInterest("P-E").getPosition());
       mqttHandler.publish(topicSceneUpdateB, scene.toByteArray());
 
       describedWait(4, "set R1 to not busy");
@@ -180,8 +220,15 @@ public class SimpleMainB {
 
       describedWait(9, "print model status");
       mqttHandler.publish(topicModel, "detailed".getBytes(StandardCharsets.UTF_8));
+    } else {
+      mqttHandler.newConnection("coordinating/rag-a/command", bytes -> {
+        if (new String(bytes).equals("start")) {
+          mqttHandler.publish(topicUpdateFromPlaceA, bytesToSend);
+        }
+      });
+    }
 
-    if (exitAutomatically) {
+    if (scenario.exitAutomatically) {
       TimeUnit.SECONDS.sleep(5);
       exitCondition.countDown();
     }
@@ -197,7 +244,7 @@ public class SimpleMainB {
 
   static de.tudresden.inf.st.ceti.Scene updatePositionOfObject(
       de.tudresden.inf.st.ceti.Scene scene,
-      String objectName,
+      @SuppressWarnings("SameParameterValue" ) String objectName,
       Position newPosition) {
     return updateObject(scene, objectName, obj -> {
       Object.Builder builder = obj.toBuilder();
@@ -218,8 +265,7 @@ public class SimpleMainB {
   static de.tudresden.inf.st.ceti.Scene updateObject(
       de.tudresden.inf.st.ceti.Scene scene,
       String objectName,
-      Function<Object, Object> change
-  ) {
+      Function<Object, Object> change) {
     List<Object> objectsList = scene.getObjectsList();
     Object newObj = null;
     int index, objectsListSize;

ros3rag.placeB/src/main/resources/config-b-placeworld.yaml

+mqttHost: "localhost"
+useReachability: true
+reachability:
+  - filename: "src/main/resources/reachability-b-arm1-placeworld.json"
+  - filename: "src/main/resources/reachability-b-arm2-placeworld.json"
+coordinatorMqttTopicPrefix: "coordinating/rag-b"

ros3rag.placeB/src/main/resources/config-b.yaml

 mqttHost: "localhost"
-filenameInitialScene: "src/main/resources/config-scene-b.json"
-useReachability: true
 reachability:
-  - idRobot: "arm1"
-    filename: "src/main/resources/dummy-reachability-b-arm1.json"
-  - idRobot: "arm2"
-    filename: "src/main/resources/dummy-reachability-b-arm2.json"
-  - idRobot: "arm3"
-    filename: "src/main/resources/dummy-reachability-b-arm3.json"
+  - filename: "src/main/resources/dummy-reachability-b-arm1.json"
+  - filename: "src/main/resources/dummy-reachability-b-arm2.json"
+  - filename: "src/main/resources/dummy-reachability-b-arm3.json"
 coordinatorMqttTopicPrefix: "coordinating/rag-b"

ros3rag.placeB/src/main/resources/reachability-b-arm1-placeworld-manual.json

+reachability-b-arm1-placeworld.json
\ No newline at end of file

ros3rag.placeB/src/main/resources/reachability-b-arm1-placeworld.json

+{
+  "idRobot": "arm1",
+  "objects": [
+    { "idObject": "A1", "reachable": true },
+    { "idObject": "B1", "reachable": true },
+    { "idObject": "B2", "reachable": true },
+    { "idObject": "C1", "reachable": true },
+    { "idObject": "cz1", "reachable": true },
+    { "idObject": "G1", "reachable": false }
+  ]
+}

ros3rag.placeB/src/main/resources/reachability-b-arm2-placeworld-manual.json

+reachability-b-arm2-placeworld.json
\ No newline at end of file

ros3rag.placeB/src/main/resources/reachability-b-arm2-placeworld.json

+{
+  "idRobot": "arm2",
+  "objects": [
+    { "idObject": "A1", "reachable": false },
+    { "idObject": "B1", "reachable": false },
+    { "idObject": "B2", "reachable": false },
+    { "idObject": "C1", "reachable": false },
+    { "idObject": "cz1", "reachable": true },
+    { "idObject": "G1", "reachable": true }
+  ]
+}