adding regions

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

@@ -20,9 +20,9 @@ aspect Resolving {
 
   //--- resolveLogicalObjectOfInterest ---
   syn LogicalObjectOfInterest LogicalScene.resolveLogicalObjectOfInterest(String name) {
-    for (LogicalDropOffLocation location : getLogicalDropOffLocationList()) {
-      if (location.getName().equals(name)) {
-        return location;
+    for (LogicalRegion region : getLogicalRegionList()) {
+      if (region.getName().equals(name)) {
+        return region;
       }
     }
     for (LogicalMovableObject movableObject : getLogicalMovableObjectList()) {
@@ -32,6 +32,15 @@ aspect Resolving {
     }
     return null;
   }
+
+//  syn LocationMappingPair LocationMapping.findMappingFor(LogicalDropOffLocation location) {
+//    for (LocationMappingPair pair : getLocationMappingPairList()) {
+//      if (pair.getLogicalLocation().equals(location)) {
+//        return pair;
+//      }
+//    }
+//    return null;
+//  }
 }
 
 aspect Computation {
@@ -74,6 +83,15 @@ aspect Computation {
        LT(-halfLocationHeight, rotatedZ) && LT(rotatedZ, halfLocationHeight);
   }
 
+  syn MovableObject DropOffLocation.getObjectLocatedHere() {
+    for (MovableObject obj : containingScene().getMovableObjects()) {
+      if (obj.isLocatedAt(this)) {
+        return obj;
+      }
+    }
+    return null;
+  }
+
   //--- getLogicalScene ---
   syn LogicalScene Scene.getLogicalScene() {
     var result = new LogicalScene();
@@ -84,13 +102,15 @@ aspect Computation {
       result.addLogicalMovableObject(newLogicalMovableObject);
       objects.put(movableObject, newLogicalMovableObject);
     }
-    for (DropOffLocation location : getDropOffLocationList()) {
-      var logicalLocation = new LogicalDropOffLocation();
-      logicalLocation.setName(location.getName());
-      result.addLogicalDropOffLocation(logicalLocation);
+    for (Region region : getRegionList()) {
+      var logicalRegion = new LogicalRegion();
+      logicalRegion.setName(region.getName());
+      result.addLogicalRegion(logicalRegion);
       for (MovableObject movableObject : getMovableObjectList()) {
+        for (DropOffLocation location : region.getLocationList()) {
           if (movableObject.isLocatedAt(location)) {
-          logicalLocation.addContainedObject(objects.get(movableObject));
+            logicalRegion.addContainedObject(objects.get(movableObject));
+          }
         }
       }
     }
@@ -109,13 +129,21 @@ aspect Computation {
 }
 
 aspect Navigation {
-  // --- isLogicalDropOffLocation ---
-  syn boolean LogicalObjectOfInterest.isLogicalDropOffLocation() = false;
-  eq LogicalDropOffLocation.isLogicalDropOffLocation() = true;
+  // --- isDropOffLocation ---
+  syn boolean ObjectOfInterest.isDropOffLocation() = false;
+  eq DropOffLocation.isDropOffLocation() = true;
 
-  // --- asLogicalDropOffLocation ---
-  syn LogicalDropOffLocation LogicalObjectOfInterest.asLogicalDropOffLocation() = null;
-  eq LogicalDropOffLocation.asLogicalDropOffLocation() = this;
+  // --- asDropOffLocation ---
+  syn DropOffLocation ObjectOfInterest.asDropOffLocation() = null;
+  eq DropOffLocation.asDropOffLocation() = this;
+
+  // --- isLogicalRegion ---
+  syn boolean LogicalObjectOfInterest.isLogicalRegion() = false;
+  eq LogicalRegion.isLogicalRegion() = true;
+
+  // --- asLogicalRegion ---
+  syn LogicalRegion LogicalObjectOfInterest.asLogicalRegion() = null;
+  eq LogicalRegion.asLogicalRegion() = this;
 
   // --- isLogicalMovableObject ---
   syn boolean LogicalObjectOfInterest.isLogicalMovableObject() = false;
@@ -124,6 +152,21 @@ aspect Navigation {
   // --- asLogicalMovableObject ---
   syn LogicalMovableObject LogicalObjectOfInterest.asLogicalMovableObject() = null;
   eq LogicalMovableObject.asLogicalMovableObject() = this;
+
+  // --- isCollaborationZone ---
+  syn boolean DropOffLocation.isCollaborationZone() = false;
+  eq CollaborationZone.isCollaborationZone() = true;
+
+  // --- asCollaborationZone ---
+  syn CollaborationZone DropOffLocation.asCollaborationZone() = null;
+  eq CollaborationZone.asCollaborationZone() = this;
+
+  inh Scene DropOffLocation.containingScene();
+  inh Scene MovableObject.containingScene();
+  eq Scene.getDropOffLocation().containingScene() = this;
+  eq Scene.getMovableObject().containingScene() = this;
+
+  syn boolean LogicalMovableObject.hasLocatedAt() = !getLocatedAtList().isEmpty();
 }
 
 aspect Printing {
@@ -155,11 +198,15 @@ aspect Printing {
   }
 
   syn String MovableObject.prettyPrint() {
-    return "<obj " + getName() + getPosition().prettyPrint() + getOrientation().prettyPrint() + getSize().prettyPrint() + "@" + Integer.toHexString(hashCode()) + ">";
+    return "<obj " + nameAndHash() + getPosition().prettyPrint() + getOrientation().prettyPrint() + getSize().prettyPrint() + ">";
   }
 
   syn String DropOffLocation.prettyPrint() {
-    return "{loc " + getName() + getPosition().prettyPrint() + getOrientation().prettyPrint() + getSize().prettyPrint() + "@" + Integer.toHexString(hashCode()) + "}";
+    return "{loc " + getName() + getPosition().prettyPrint() + getOrientation().prettyPrint() + getSize().prettyPrint() + "}";
+  }
+
+  syn String Region.prettyPrint() {
+    return "{reg " + nameAndHash() + "}";
   }
 
   syn String Position.prettyPrint() {
@@ -176,13 +223,14 @@ aspect Printing {
 
   syn String LogicalScene.prettyPrint() {
     StringBuilder sb = new StringBuilder();
-    if (getNumLogicalDropOffLocation() == 0) {
-      sb.append(" no locations\n");
+    if (getNumLogicalRegion() == 0) {
+      sb.append(" no region\n");
     } else {
-      for (var location : getLogicalDropOffLocationList()) {
-        sb.append(" location ").append(location.prettyPrint());
-        if (!location.getContainedObjectList().isEmpty()) {
-          sb.append(" (objects: ").append(location.getContainedObjectList()).append(")");
+      // TODO
+      for (LogicalRegion region : getLogicalRegionList()) {
+        sb.append(" region ").append(region.prettyPrint());
+        if (!region.getContainedObjectList().isEmpty()) {
+          sb.append(" (objects: ").append(region.getContainedObjectList().stream().map(LogicalMovableObject::getName).collect(java.util.stream.Collectors.joining(","))).append(")");
         }
         sb.append("\n");
       }
@@ -190,10 +238,10 @@ aspect Printing {
     if (getNumLogicalMovableObject() == 0) {
       sb.append(" no objects\n");
     } else {
-      for (var obj : getLogicalMovableObjectList()) {
+      for (LogicalMovableObject obj : getLogicalMovableObjectList()) {
         sb.append(" obj ").append(obj.prettyPrint());
         if (obj.hasLocatedAt()) {
-          sb.append(" (locatedAt: ").append(obj.getLocatedAt()).append(")");
+          sb.append(" (locatedAt: ").append(obj.getLocatedAtList().stream().map(LogicalRegion::nameAndHash).collect(java.util.stream.Collectors.joining(","))).append(")");
         }
         sb.append("\n");
       }
@@ -202,11 +250,15 @@ aspect Printing {
   }
 
   syn String LogicalMovableObject.prettyPrint() {
-    return  "<obj " + getName() + "@" + Integer.toHexString(hashCode()) + ">";
+    return  "<lObj " + nameAndHash() + ">";
   }
-  syn String LogicalDropOffLocation.prettyPrint() {
-    return "{loc " + getName() + "@" + Integer.toHexString(hashCode()) + "}";
+  syn String LogicalRegion.prettyPrint() {
+    return "{lReg " + nameAndHash() + "}";
   }
+
+  syn String LogicalObjectOfInterest.nameAndHash() = getName() + "@" + Integer.toHexString(hashCode());
+  syn String ObjectOfInterest.nameAndHash() = getName() + "@" + Integer.toHexString(hashCode());
+  syn String Region.nameAndHash() = getName() + "@" + Integer.toHexString(hashCode());
 }
 
 aspect ConvenienceMethods {

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

@@ -2,7 +2,7 @@ Position ::= <X:float> <Y:float> <Z:float> ;
 Size ::= <Length:float> <Width:float> <Height:float> ;
 Orientation ::= <X:float> <Y:float> <Z:float> <W:float> ;
 
-Scene ::= DropOffLocation* MovableObject* /LogicalScene/ ;
+Scene ::= Region* DropOffLocation* MovableObject* /LogicalScene/ ;
 
 CanReachObjectOfInterestWrapper ::= CanReachObjectOfInterest* ;
 ObjectOfInterest ::= <Name:String> Position Size Orientation ;
@@ -13,18 +13,14 @@ MovableObject : ObjectOfInterest ::= ;
 
 CanReachObjectOfInterest ::= <ObjectName:String> ;
 
-LogicalScene ::= LogicalDropOffLocation* LogicalMovableObject* ;
+LogicalScene ::= LogicalRegion* LogicalMovableObject* ;
 LogicalObjectOfInterest ::= <Name:String> ;
-LogicalDropOffLocation : LogicalObjectOfInterest ;
+LogicalRegion : LogicalObjectOfInterest ;
 LogicalMovableObject : LogicalObjectOfInterest ;
-rel LogicalDropOffLocation.ContainedObject* <-> LogicalMovableObject.LocatedAt? ;
-// rs: assumption movable object can only be at one location at the same time, i.e., no overlapping locations
+rel LogicalRegion.ContainedObject* <-> LogicalMovableObject.LocatedAt* ;
 
-// new as of 2022-04-21
-LocationMapping ::= LocationMappingPair* ;
-LocationMappingPair ;
-rel LocationMappingPair.Location -> LogicalDropOffLocation ;
-rel LocationMappingPair.Position* -> Position ;  // TODO what is the target here? is it really Position?
+Region ::= <Name:String> ;
+rel Region.Location* <-> DropOffLocation.ContainedInRegion* ;
 
-// should this be only in site-B??
-CollaborationZone : LogicalDropOffLocation ;
+// TODO should this be only in site-B??
+CollaborationZone : DropOffLocation ;

ros3rag.placeA/src/main/resources/config-scene-a-2022.json

+{ "objects": [
+  { "id": "tablePillar1","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": "tablePillar2","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": "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": "P1","type": "DROP_OFF_LOCATION","pos": { "x": 1,"y": 2,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "b": 1 } },
+  { "id": "P2","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": "P3","type": "DROP_OFF_LOCATION","pos": { "x": 2,"y": 3,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "g": 1 } },
+  { "id": "P4","type": "DROP_OFF_LOCATION","pos": { "x": 8,"y": 4,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "r": 1, "g": 1 } },
+  { "id": "P5","type": "DROP_OFF_LOCATION","pos": { "x": 2,"y": 2,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "r": 1, "b": 1 } },
+  { "id": "P6","type": "DROP_OFF_LOCATION","pos": { "x": 8,"y": 2,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "r": 1, "b": 1 } },
+  { "id": "P-E","type": "DROP_OFF_LOCATION","pos": { "x": 5,"y": 4,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "r": 1, "b": 1 } },
+  { "id": "P-F","type": "DROP_OFF_LOCATION","pos": { "x": 5,"y": 2,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "r": 1, "b": 1 } },
+  { "id": "O1","type": "BOX","pos": { "x": 8,"y": 4,"z": 0.8105 },"size": { "length": 0.031,"width": 0.062,"height": 0.121 },"orientation": { "z": 0.382683,"w": 0.92388 },"color": { "r": 1 } },
+  { "id": "O2","type": "BOX","pos": { "x": 2,"y": 2, "z": 0.8105 },"size": { "length": 0.031,"width": 0.062,"height": 0.121 },"orientation": { "w": 1 },"color": { "r": 1 } },
+  { "id": "O3","type": "BOX","pos": { "x": 8, "y": 2, "z": 0.819 },"size": { "length": 0.031,"width": 0.031,"height": 0.138 },"orientation": { "z": 0.382683,"w": 0.92388 },"color": { "r": 1 } },
+  { "id": "O4-uninvolved","type": "BOX","pos": { "x": 1, "y": 4,"z": 0.8105 },"size": {"length":0.031,"width":0.062,"height":0.121},"orientation": { "z": 0.382683,"w": 0.92388 },"color": { "g": 1 } },
+  { "id": "O5-uninvolved","type": "BOX","pos": { "x": 1, "y": 3,"z": 0.8105 },"size": {"length":0.031,"width":0.031,"height":0.138},"orientation": { "z": 0.382683,"w": 0.92388 },"color": { "g": 1 } },
+  { "id": "O6-uninvolved","type": "BOX","pos": { "x": 7, "y": 3,"z": 0.819 },"size": {"length":0.031,"width":0.062,"height":0.121},"orientation": { "z": 0.382683, "w": 0.92388 },"color": { "g": 1 } }
+] }

ros3rag.placeA/src/main/resources/mappping-a.json

+{
+  "mappings": [
+    { "location": "L1", "positions": ["P1"] },
+    { "location": "L2", "positions": ["P2"] },
+    { "location": "L3", "positions": ["P3"] },
+    { "location": "L4", "positions": ["P4"] },
+    { "location": "L5", "positions": ["P5"] },
+    { "location": "L6", "positions": ["P6"] },
+    { "location": "L-E", "positions": ["P-E"] },
+    { "location": "L-F", "positions": ["P-F"] }
+  ]
+}

ros3rag.placeB/build.gradle

@@ -17,6 +17,7 @@ task simpleRun(type: JavaExec) {
     group 'application'
     classpath sourceSets.main.runtimeClasspath
     main = "de.tudresden.inf.st.placeB.SimpleMainB"
+    standardInput = System.in
 }
 
 dependencies {

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

@@ -5,31 +5,36 @@ aspect RobotReachabilityToBFS {
     if (!hasMyScene()) {
       return result;
     }
-    Map<LogicalObjectOfInterest, Vertex> mapping = new HashMap<>();
-    for (LogicalDropOffLocation loc : getMyScene().getLogicalScene().getLogicalDropOffLocationList()) {
+    Map<ObjectOfInterest, Vertex> mapping = new HashMap<>();
+    // TODO insert vertices for objects, if they are contained in a location. or remove objects altogether?
+    for (DropOffLocation loc : getMyScene().getDropOffLocationList()) {
       Vertex vertex = new Vertex();
       vertex.setObjectOfInterest(loc);
       result.addVertex(vertex);
       mapping.put(loc, vertex);
     }
-    for (LogicalMovableObject obj : getMyScene().getLogicalScene().getLogicalMovableObjectList()) {
-      Vertex vertex = new Vertex();
-      vertex.setObjectOfInterest(obj);
-      result.addVertex(vertex);
-      mapping.put(obj, vertex);
-    }
+//    for (LogicalMovableObject obj : getMyScene().getLogicalScene().getLogicalMovableObjectList()) {
+//      Vertex vertex = new Vertex();
+//      vertex.setObjectOfInterest(obj);
+//      result.addVertex(vertex);
+//      mapping.put(obj, vertex);
+//    }
     for (Robot robot : getRobotList()) {
-      List<LogicalObjectOfInterest> reachableLocations = robot.reachableObjects().stream()
-        .filter(LogicalObjectOfInterest::isLogicalDropOffLocation)
+      List<DropOffLocation> reachableLocations = robot.reachableObjects().stream()
+        .filter(ObjectOfInterest::isDropOffLocation)
+        .map(ObjectOfInterest::asDropOffLocation)
         .collect(java.util.stream.Collectors.toList());
-      // bidirectional edges between locations, unidirectional edges from all reachable movableobjects to locations
-      for (LogicalObjectOfInterest obj : robot.reachableObjects()) {
-        for (LogicalObjectOfInterest other : reachableLocations) {
-          if (obj == other) { continue; }
+      // bidirectional edges between locations by default
+      // unidirectional edges from all occupied locations to free locations
+      // no edge if both locations are occupied
+      for (DropOffLocation loc : reachableLocations) {
+        for (DropOffLocation other : reachableLocations) {
+          if (loc == other) { continue; }
+          if (loc.getObjectLocatedHere() != null && other.getObjectLocatedHere() != null) { continue; }
           Edge edge = new Edge();
           edge.setRobot(robot);
-          edge.setBidirectional(obj.isLogicalDropOffLocation());
-          edge.setFrom(mapping.get(obj));
+          edge.setBidirectional(loc.getObjectLocatedHere() == null);
+          edge.setFrom(mapping.get(loc));
           edge.setTo(mapping.get(other));
           result.addEdge(edge);
         }

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

-rel Vertex.ObjectOfInterest -> LogicalObjectOfInterest ;
+rel Vertex.ObjectOfInterest -> ObjectOfInterest ;
 rel Edge.Robot -> Robot ;

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

 aspect Computation {
-  //--- unspecifiedLocation ---
-  syn nta LogicalDropOffLocation WorldModelB.unspecifiedLocation() = new LogicalDropOffLocation().setName("<unspecified>");
+  //--- unspecifiedRegion ---
+  syn nta LogicalRegion WorldModelB.unspecifiedRegion() = new LogicalRegion().setName("<unspecified>");
 
   //--- mergedOtherScene ---
   syn nta LogicalScene WorldModelB.mergedOtherScene() {
@@ -13,17 +13,17 @@ aspect Computation {
       return getOtherScene(0);
     }
     var result = new LogicalScene();
-    // use getOtherSceneList() and merge by name all locations, objects and relations into one new, unified scene
-    Map<String, LogicalDropOffLocation> mergedLocations = new HashMap<>();
+    // use getOtherSceneList() and merge by name all regions, objects and relations into one new, unified scene
+    Map<String, LogicalRegion> mergedRegions = new HashMap<>();
     Map<String, LogicalMovableObject> mergedObjects = new HashMap<>();
-    // first create all locations
+    // first create all regions
     for (LogicalScene scene : getOtherSceneList()) {
-      for (LogicalDropOffLocation loc : scene.getLogicalDropOffLocationList()) {
-        if (!mergedLocations.containsKey(loc.getName())) {
-          LogicalDropOffLocation copyOfLoc = new LogicalDropOffLocation();
-          copyOfLoc.setName(loc.getName());
-          mergedLocations.put(loc.getName(), copyOfLoc);
-          result.addLogicalDropOffLocation(copyOfLoc);
+      for (LogicalRegion region : scene.getLogicalRegionList()) {
+        if (!mergedRegions.containsKey(region.getName())) {
+          LogicalRegion copyOfRegion = new LogicalRegion();
+          copyOfRegion.setName(region.getName());
+          mergedRegions.put(region.getName(), copyOfRegion);
+          result.addLogicalRegion(copyOfRegion);
         }
       }
     }
@@ -32,23 +32,23 @@ aspect Computation {
       for (LogicalMovableObject obj : scene.getLogicalMovableObjectList()) {
         if (mergedObjects.containsKey(obj.getName())) {
           // object already known
-          LogicalMovableObject copyOfObj = mergedObjects.get(obj.getName());
-          if (obj.hasLocatedAt()) {
-            String locationName = obj.getLocatedAt().getName();
-            LogicalDropOffLocation copyOfLoc = mergedLocations.get(locationName);
-            if (copyOfObj.hasLocatedAt() && !obj.getLocatedAt().getName().equals(copyOfObj.getLocatedAt().getName())) {
-              System.err.println("Overriding located-at of " + obj.getName() + " while merging (" + locationName + "," + copyOfObj.getLocatedAt().getName() + ")");
+          LogicalMovableObject knownObj = mergedObjects.get(obj.getName());
+          for (LogicalRegion region : obj.getLocatedAtList()) {
+            LogicalRegion knownRegionOfObj = mergedRegions.get(region.getName());
+            if (!knownObj.getLocatedAtList().contains(knownRegionOfObj)) {
+              // obj has region that is not yet add to knownObj
+              knownObj.addLocatedAt(knownRegionOfObj);
             }
-            copyOfObj.setLocatedAt(copyOfLoc);
           }
         } else {
-          LogicalMovableObject copyOfObj = new LogicalMovableObject();
-          copyOfObj.setName(obj.getName());
-          if (obj.hasLocatedAt()) {
-            copyOfObj.setLocatedAt(mergedLocations.get(obj.getLocatedAt().getName()));
+          // object not known, needs to be created
+          LogicalMovableObject newObj = new LogicalMovableObject();
+          newObj.setName(obj.getName());
+          for (LogicalRegion region : obj.getLocatedAtList()) {
+            newObj.addLocatedAt(mergedRegions.get(region.getName()));
           }
-          mergedObjects.put(obj.getName(), copyOfObj);
-          result.addLogicalMovableObject(copyOfObj);
+          mergedObjects.put(obj.getName(), newObj);
+          result.addLogicalMovableObject(newObj);
         }
       }
     }
@@ -78,25 +78,37 @@ aspect Computation {
       }
       LogicalMovableObject myObject = myGenericObject.asLogicalMovableObject();
       if (myObject.hasLocatedAt() && !otherObject.hasLocatedAt()) {
+        if (myObject.getLocatedAtList().size() > 1) {
+          System.err.println("More than one region found for my " + myObject.getName() + ", using only first.");
+        }
         var diff = new DifferenceObjectMisplaced();
         diff.setObject(myObject);
-        diff.setPreviousLocation(myObject.getLocatedAt());
+        // use first region
+        diff.setPreviousRegion(myObject.getLocatedAtList().get(0));
         result.add(diff);
         continue;
       }
+      if (myObject.getLocatedAtList().size() > 1) {
+        System.err.println("More than one region found for my " + myObject.getName() + ", using only first.");
+      }
+      if (otherObject.getLocatedAtList().size() > 1) {
+        System.err.println("More than one region found for other " + otherObject.getName() + ", using only first.");
+      }
+      Set<LogicalRegion> myRegions = new HashSet<>(myObject.getLocatedAtList());
+      Set<LogicalRegion> otherRegions = new HashSet<>(otherObject.getLocatedAtList());
       if (!myObject.hasLocatedAt() && !otherObject.hasLocatedAt() ||
           (myObject.hasLocatedAt() && otherObject.hasLocatedAt() &&
-           myObject.getLocatedAt().getName().equals(otherObject.getLocatedAt().getName()))) {
-        // no diff if otherObject has no location information, and if both objects are located at same location
+              myRegions.equals(otherRegions))) {
+        // no diff if: otherObject has no region information, or if both objects are located at same region(s)
         // otherObject is always non-null, so this case does not need to be treated
         continue;
       }
       var difference = new DifferenceObjectAtWrongPlace();
       difference.setObject(myObject);
       if (myObject.hasLocatedAt()) {
-        difference.setPreviousLocation(myObject.getLocatedAt());
+        difference.setPreviousRegion(myObject.getLocatedAtList().get(0));
       }
-      difference.setNewLocation(otherObject.getLocatedAt());
+      difference.setNewRegion(otherObject.getLocatedAtList().get(0));
       result.add(difference);
     }
     return result;
@@ -116,22 +128,41 @@ aspect Computation {
   //--- computeOperations ---
   syn List<Operation> Difference.computeOperations();
   eq DifferenceObjectAtWrongPlace.computeOperations() {
-    return (hasPreviousLocation() ? getPreviousLocation() : getObject()).correspondingVertex().map(previousVertex -> {
-      return getNewLocation().correspondingVertex().map(newVertex -> {
+    return (hasPreviousRegion() ? getPreviousRegion() : getObject()).correspondingVertex().map(previousVertex -> {
+      return getNewRegion().correspondingVertex().map(newVertex -> {
         List<Edge> shortestPath = previousVertex.BFS(newVertex);
         if (shortestPath == null || shortestPath.isEmpty()) {
-          return error("No sequence of operations to move " + getObject().getName() + (hasPreviousLocation() ? " from " + getPreviousLocation().getName() : "") + " to " + getNewLocation().getName());
+          return error("No sequence of operations to move " + getObject().getName() + (hasPreviousRegion() ? " from " + getPreviousRegion().getName() : "") + " to " + getNewRegion().getName());
         }
+        // TODO insert config-change and evacuate commands
         List<Operation> result = new ArrayList<>();
         Vertex transit = previousVertex;
         for (Edge edge : shortestPath) {
           Vertex target = edge.getFrom().equals(transit) ? edge.getTo() : edge.getFrom();
-          result.add(createPickAndPlace(edge.getRobot(), getObject(), target.getObjectOfInterest().asLogicalDropOffLocation()));
+          DropOffLocation targetLocation = target.getObjectOfInterest().asDropOffLocation();
+          Robot executingRobot = edge.getRobot();
+          if (targetLocation.isCollaborationZone()) {
+            /* here we need to check, if the collaboration zone is
+               (a) claimed by the executing robot, and
+               (b) occupied by another robot, and
+               (c) free (as no movable object is contained) -- this should be reflected in the graph!
+            */
+
+            // order is important here, first add ConfigChange, then Evacuate
+            CollaborationZone cz = targetLocation.asCollaborationZone();
+            if (cz.hasOwner() && !cz.getOwner().equals(executingRobot)) {
+              result.add(ConfigChange.of(executingRobot, cz));
+            }
+            if (cz.hasOccupient() && !cz.getOccupient().equals(executingRobot)) {
+              result.add(Evacuate.of(cz.getOccupient()));
+            }
+          }
+          result.add(PickAndPlace.of(executingRobot, getObject(), targetLocation));
           transit = target;
         }
         return result;
-      }).orElseGet(() -> error("Could not resolve graph vertex of new location " + getNewLocation().getName()));
-    }).orElseGet(() -> error("Could not resolve graph vertex of previous location " + getPreviousLocation().getName()));
+      }).orElseGet(() -> error("Could not resolve graph vertex of new region " + getNewRegion().getName()));
+    }).orElseGet(() -> error("Could not resolve graph vertex of previous region " + getPreviousRegion().getName()));
   }
   eq DifferenceNewObject.computeOperations() {
     // FIXME. stub, may be implemented later
@@ -147,15 +178,28 @@ aspect Computation {
     return Collections.singletonList(new ErrorOperation(message));
   }
 
-  //--- createPickAndPlace ---
-  private static Operation DifferenceObjectAtWrongPlace.createPickAndPlace(Robot robot, LogicalMovableObject obj, LogicalDropOffLocation target) {
-    var result = new PickAndPlace();
+  //--- Operation.of ---
+  public static PickAndPlace PickAndPlace.of(Robot robot, LogicalMovableObject obj, DropOffLocation target) {
+    PickAndPlace result = new PickAndPlace();
     result.setRobotToExecute(robot);
     result.setObjectToPick(obj);
     result.setTargetLocation(target);
     return result;
   }
 
+  public static ConfigChange ConfigChange.of(Robot robot, CollaborationZone cz) {
+    ConfigChange result = new ConfigChange();
+    result.setRobotToExecute(robot);
+    result.setCollaborationZone(cz);
+    return result;
+  }
+
+  public static Evacuate Evacuate.of(Robot robot) {
+    Evacuate result = new Evacuate();
+    result.setRobotToExecute(robot);
+    return result;
+  }
+
   //--- getNextOperation ---
   syn Operation WorldModelB.getNextOperation() {
     if (diffToOperations().getNumChild() == 0) {
@@ -180,16 +224,46 @@ aspect Computation {
   }
 
   //--- reachableObjects ---
-  syn List<LogicalObjectOfInterest> Robot.reachableObjects() {
+  syn List<ObjectOfInterest> Robot.reachableObjects() {
     if (!worldModelB().hasMyScene()) {
       return Collections.emptyList();
     }
-    List<LogicalObjectOfInterest> result = new ArrayList<>();
+    List<ObjectOfInterest> result = new ArrayList<>();
     for (var canReachObj : getCanReachObjectOfInterestWrapper().getCanReachObjectOfInterestList()) {
-      result.add(worldModelB().getMyScene().getLogicalScene().resolveLogicalObjectOfInterest(canReachObj.getObjectName()));
+      result.add(worldModelB().getMyScene().resolveObjectOfInterest(canReachObj.getObjectName()));
     }
     return result;
   }
+
+  syn DropOffLocation Region.firstFreeDropOffLocation() {
+    for (DropOffLocation location : getLocationList()) {
+      if (location.getObjectLocatedHere() == null) {
+        return location;
+      }
+    }
+    return null;
+  }
+
+//  // TO DO probably should be defined on Region
+//  //--- isFullyOccupied (should by in types.jadd) ---
+//  syn boolean LogicalDropOffLocation.isFullyOccupied() {
+//    LocationMappingPair mapping = allMappings().findMappingFor(this);
+//    List<LogicalMovableObject> candidateObjects = this.getContainedObjectList();
+//    // check, if all dropOffLocations are occupied
+//    outer: for (DropOffLocation dropOffLocation : mapping.getLocationList()) {
+//      // search for an object, that is located at the dropOffLocation
+//      for (LogicalMovableObject object : candidateObjects) {
+//        if (object.isLocatedAt(dropOffLocation)) {
+//          // found an object, continue at outer loop
+//          continue outer;
+//        }
+//      }
+//      // no object is contained in the dropOffLocation, thus, it is free. Therefore, this is not fully occupied.
+//      return false;
+//    }
+//    // we did not find a single dropOffLocation, that is free. Therefore, this is fully occupied
+//    return true;
+//  }
 }
 
 //aspect RelationsByReference {
@@ -233,8 +307,13 @@ aspect Navigation {
   //--- worldModelB ---
   inh WorldModelB ASTNode.worldModelB();
   eq WorldModelB.getChild().worldModelB() = this;
+
   syn boolean Operation.isErrorOperation() = false;
   eq ErrorOperation.isErrorOperation() = true;
+
+  //--- allMappings ---
+//  inh LocationMapping LogicalDropOffLocation.allMappings();
+//  eq WorldModelB.getChild().allMappings() = getLocationMapping();
 }
 
 aspect GlueForShared {
@@ -248,17 +327,18 @@ aspect GlueForShared {
 
 aspect Printing {
   //--- prettyPrint ---
-  syn String Robot.prettyPrint() = "~Robot " + getName() + "~";
+  syn String Robot.prettyPrint() = "~Robot " + nameAndHash() + "~";
+  syn String Robot.nameAndHash() = getName() + "@" + Integer.toHexString(hashCode());
 
   syn String Difference.prettyPrint();
   eq DifferenceObjectAtWrongPlace.prettyPrint() {
-    return "-DifferenceObjectAtWrongPlace of " + getObject().prettyPrint() + ": " + (hasPreviousLocation() ? getPreviousLocation().prettyPrint() : "_") + " -> " + getNewLocation().prettyPrint() + "-";
+    return "-DifferenceObjectAtWrongPlace of " + getObject().prettyPrint() + ": " + (hasPreviousRegion() ? getPreviousRegion().prettyPrint() : "_") + " -> " + getNewRegion().prettyPrint() + "-";
   }
   eq DifferenceNewObject.prettyPrint() {
     return "-DifferenceNewObject of " + getObject().prettyPrint() + "-";
   }
   eq DifferenceObjectMisplaced.prettyPrint() {
-    return "-DifferenceObjectMisplaced of " + getObject().prettyPrint() + ": " + getPreviousLocation().prettyPrint() + "-";
+    return "-DifferenceObjectMisplaced of " + getObject().prettyPrint() + ": " + getPreviousRegion().prettyPrint() + "-";
   }
 
   syn String Operation.prettyPrint();

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

@@ -7,11 +7,11 @@ rel Robot.OccupiedCollaborationZone? <-> CollaborationZone.Occupient? ;
 abstract Difference ;
 rel Difference.Object -> LogicalMovableObject ;
 DifferenceObjectAtWrongPlace : Difference ;
-rel DifferenceObjectAtWrongPlace.PreviousLocation? -> LogicalDropOffLocation ;
-rel DifferenceObjectAtWrongPlace.NewLocation -> LogicalDropOffLocation ;
+rel DifferenceObjectAtWrongPlace.PreviousRegion? -> LogicalRegion ;
+rel DifferenceObjectAtWrongPlace.NewRegion -> LogicalRegion ;
 DifferenceNewObject : Difference ;
 DifferenceObjectMisplaced : Difference ;
-rel DifferenceObjectMisplaced.PreviousLocation -> LogicalDropOffLocation ;
+rel DifferenceObjectMisplaced.PreviousRegion -> LogicalRegion ;
 
 abstract Operation ;
 rel Operation.RobotToExecute? -> Robot ;
@@ -21,14 +21,14 @@ Pick : Operation ;
 rel Pick.ObjectToPick -> LogicalMovableObject ;
 
 Place : Operation ;
-rel Place.TargetLocation -> LogicalDropOffLocation ;
+rel Place.TargetLocation -> DropOffLocation ;
 
 PickAndPlace : Operation ;
 rel PickAndPlace.ObjectToPick -> LogicalMovableObject ;
-rel PickAndPlace.TargetLocation -> LogicalDropOffLocation ;
+rel PickAndPlace.TargetLocation -> DropOffLocation ;
 
 ConfigChange : Operation ;
-rel ConfigChange.CollaborationZone -> LogicalDropOffLocation ;
-// TODO should be: rel ConfigChange.CollaborationZone -> CollaborationZone ;
+rel ConfigChange.CollaborationZone -> DropOffLocation ;
+// TODO maybe should be: rel ConfigChange.CollaborationZone -> CollaborationZone ;
 
 Evacuate : Operation ;

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

@@ -3,19 +3,24 @@ package de.tudresden.inf.st.placeB;
 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.Configuration.ReachabilityConfig;
 import de.tudresden.inf.st.ros3rag.common.Util;
 import org.apache.logging.log4j.LogManager;
 import org.apache.logging.log4j.Logger;
 
 import java.io.IOException;
+import java.nio.charset.StandardCharsets;
 import java.nio.file.Path;
 import java.nio.file.Paths;
+import java.util.ArrayList;
+import java.util.Arrays;
 import java.util.List;
+import java.util.Scanner;
+import java.util.concurrent.CountDownLatch;
 import java.util.concurrent.TimeUnit;
 import java.util.stream.Collectors;
 
 import static de.tudresden.inf.st.ros3rag.common.Util.mqttUri;
-import static de.tudresden.inf.st.ros3rag.common.Util.readScene;
 
 /**
  * Testing features for placeB.
@@ -38,12 +43,114 @@ public class SimpleMainB {
 //    testWeirdBehaviour();
 //    testReachability();
 //    testBFS();
-    testRobotReachabilityBFS();
+//    testRobotReachabilityBFS();
+    readModelAndReceiveFromA();
   }
 
+  private void readModelAndReceiveFromA() throws Exception {
+    Configuration config = new Configuration();
+    config.mqttHost = "localhost";
+    ReachabilityConfig reachabilityR1 = new ReachabilityConfig();
+    reachabilityR1.idRobot = "R1";
+    reachabilityR1.filename = "src/main/resources/reachability-b-r1-2022.json";
+    ReachabilityConfig reachabilityR2 = new ReachabilityConfig();
+    reachabilityR2.idRobot = "R2";
+    reachabilityR2.filename = "src/main/resources/reachability-b-r2-2022.json";
+    config.reachability = Arrays.asList(reachabilityR1, reachabilityR2);
+
+    final String topicUpdateFromPlaceA = "update/logical/fromA";
+    final String topicCommand = "command";
+    final String topicExit = "place-b/exit";
+    final String topicModel = "place-b/model";
+    final String topicModelStatus = "place-b/status";
+
+    WorldModelB model = new WorldModelB();
+    model.addOtherScene(new LogicalScene());
+
+    MqttHandler mqttHandler = new MqttHandler().dontSendWelcomeMessage();
+    mqttHandler.setHost(config.mqttHost);
+    mqttHandler.waitUntilReady(2, TimeUnit.SECONDS);
+    model.ragconnectSetupMqttWaitUntilReady(2, TimeUnit.SECONDS);
+
+    // read initial scene
+    Path initialSceneFile = UtilB.pathToDirectoryOfPlaceB().resolve("src/main/resources/config-scene-b-2022.json");
+    de.tudresden.inf.st.ceti.Scene scene = Util.readScene(initialSceneFile);
+    Scene myScene = UtilB.convert(scene);
+    model.setMyScene(myScene);
+
+    // 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)
+    for (ReachabilityConfig reachabilityConfig : config.reachability) {
+      Robot robot = model.findRobot(reachabilityConfig.idRobot).orElseThrow(
+          () -> new IllegalArgumentException("Could not find robot with id " + reachabilityConfig.idRobot)
+      );
+      Path path = UtilB.pathToDirectoryOfPlaceB().resolve(Paths.get(reachabilityConfig.filename));
+      Reachability reachability = UtilB.readReachability(path);
+      CanReachObjectOfInterestWrapper reachabilityWrapper = UtilB.convert(reachability);
+      robot.setCanReachObjectOfInterestWrapper(reachabilityWrapper);
+    }
+
+    Runnable close = () -> {
+      logger.info("Exiting ...");
+      mqttHandler.close();
+      model.ragconnectCloseConnections();
+    };
+    Runtime.getRuntime().addShutdownHook(new Thread(close));
+
+    model.connectOtherScene(Util.mqttUri(topicUpdateFromPlaceA, config), 0);
+    model.connectNextOperation(Util.mqttUri(topicCommand, config), true);
+
+    // prepare exit condition
+    final CountDownLatch exitCondition = new CountDownLatch(1);
+    mqttHandler.newConnection(topicExit, bytes -> exitCondition.countDown());
+    logger.info("Quit via " + topicExit);
+
+    // prepare model status
+    mqttHandler.newConnection(topicModel, bytes -> {
+      String message = new String(bytes);
+      String content = UtilB.getModelInfos(model, message.equals("Start") || message.startsWith("detail"));
+      logger.info("WorldModel\n{}", content);
+      mqttHandler.publish(topicModelStatus, content.getBytes(StandardCharsets.UTF_8));
+    });
+
+    // read scene from A, serialize it and send it via mqtt
+    Path sceneAFile = Util.pathToModuleDirectory("ros3rag.placeA").resolve("src/main/resources/config-scene-a-2022.json");
+    de.tudresden.inf.st.ceti.Scene scenePlaceA = Util.readScene(sceneAFile);
+    Scene sceneFromPlaceA = UtilB.convert(scenePlaceA);
+    LogicalScene logicalSceneFromPlaceA = sceneFromPlaceA.getLogicalScene();
+    byte[] bytesToSend = _ragconnect__apply__TreeDefaultLogicalSceneToBytesMapping(logicalSceneFromPlaceA);
+
+    logger.info("Wait 2 sec, then send new logical scene");
+    TimeUnit.SECONDS.sleep(2);
+    mqttHandler.publish(topicUpdateFromPlaceA, bytesToSend);
+
+    logger.info("Wait another 2 sec, then print model status");
+    TimeUnit.SECONDS.sleep(2);
+    mqttHandler.publish(topicModel, "detailed".getBytes(StandardCharsets.UTF_8));
+
+    exitCondition.await();
+  }
+
+  // copied from WorldModelA
+  protected static byte[] _ragconnect__apply__TreeDefaultLogicalSceneToBytesMapping(LogicalScene input) throws Exception {
+    java.io.ByteArrayOutputStream outputStream = new java.io.ByteArrayOutputStream();
+    com.fasterxml.jackson.core.JsonFactory factory = new com.fasterxml.jackson.core.JsonFactory();
+    com.fasterxml.jackson.core.JsonGenerator generator = factory.createGenerator(outputStream, com.fasterxml.jackson.core.JsonEncoding.UTF8);
+    input.serialize(generator);
+    generator.flush();
+    return outputStream.toString().getBytes();
+  }
+
+  @SuppressWarnings("unused")
   private void testRobotReachabilityBFS() throws Exception {
     WorldModelB model = new WorldModelB();
-    de.tudresden.inf.st.ceti.Scene scene = readScene(
+    de.tudresden.inf.st.ceti.Scene scene = Util.readScene(
         UtilB.pathToDirectoryOfPlaceB().resolve("src/main/resources/config-scene-b.json")
     );
     Scene myScene = UtilB.convert(scene);
@@ -69,23 +176,24 @@ public class SimpleMainB {
     System.out.println(UtilB.getModelInfos(model, true));
 
     System.out.println("Reachability:");
-    model.getRobotList().forEach(r -> System.out.println(r.getName() + ": " + r.reachableObjects().stream().map(LogicalObjectOfInterest::getName).collect(Collectors.joining(", "))));
+    model.getRobotList().forEach(r -> System.out.println(r.getName() + ": " + r.reachableObjects().stream().map(ObjectOfInterest::getName).collect(Collectors.joining(", "))));
 
     System.out.println("ReachabilityGraph:");
     System.out.println(model.toReachabilityGraph().prettyPrint());
   }
 
   private void printShortestPath(WorldModelB model, String source, String target) {
-    LogicalDropOffLocation sourceLocation = model.getMyScene().getLogicalScene()
-        .resolveLogicalObjectOfInterest(source).asLogicalDropOffLocation();
-    LogicalDropOffLocation targetLocation = model.getMyScene().getLogicalScene()
-        .resolveLogicalObjectOfInterest(target).asLogicalDropOffLocation();
+    LogicalRegion sourceLocation = model.getMyScene().getLogicalScene()
+        .resolveLogicalObjectOfInterest(source).asLogicalRegion();
+    LogicalRegion targetLocation = model.getMyScene().getLogicalScene()
+        .resolveLogicalObjectOfInterest(target).asLogicalRegion();
 
     List<Edge> bfs = sourceLocation.correspondingVertex().orElseThrow().BFS(targetLocation.correspondingVertex().orElseThrow());
 
     System.out.println("Shortest path from " + sourceLocation.getName() + " to " + targetLocation.getName() + ": " + bfs);
   }
 
+  @SuppressWarnings("unused")
   private void testBFS() {
     /*
       A   B
@@ -129,8 +237,9 @@ public class SimpleMainB {
     return result;
   }
 
+  @SuppressWarnings("unused")
   private void testDistance() throws Exception {
-    de.tudresden.inf.st.ceti.Scene scene = readScene(
+    de.tudresden.inf.st.ceti.Scene scene = Util.readScene(
         UtilB.pathToDirectoryOfPlaceB().resolve("src/main/resources/config-scene-b.json")
     );
 
@@ -162,6 +271,7 @@ public class SimpleMainB {
     }
   }
 
+  @SuppressWarnings("unused")
   private void testWeirdBehaviour() throws IOException {
     WorldModelB model = new WorldModelB();
     Scene scene = new Scene();
@@ -187,9 +297,9 @@ public class SimpleMainB {
     model.ragconnectSetupMqttWaitUntilReady(2, TimeUnit.SECONDS);
 
     /// Connect endpoints
-    model.connectMyScene(mqttUri("TOPIC_MY_SCENE_UPDATE_FROM_ROS", config));
-    model.connectOtherScene(mqttUri("TOPIC_OTHER_SCENE_UPDATE_FROM_PLACE_A", config));
-    model.connectNextOperation(mqttUri("TOPIC_COMMANDS", config), false);
+    model.connectMyScene(Util.mqttUri("TOPIC_MY_SCENE_UPDATE_FROM_ROS", config));
+    model.connectOtherScene(Util.mqttUri("TOPIC_OTHER_SCENE_UPDATE_FROM_PLACE_A", config));
+    model.connectNextOperation(Util.mqttUri("TOPIC_COMMANDS", config), false);
 
     System.out.println("before");
     System.out.println(scene.prettyPrint());
@@ -210,6 +320,7 @@ public class SimpleMainB {
     model.ragconnectCloseConnections();
   }
 
+  @SuppressWarnings("unused")
   private void testDummyReachability() throws Exception {
     WorldModelB model = new WorldModelB();
     Robot arm1 = UtilB.createRobot("ARM1");
@@ -259,11 +370,11 @@ public class SimpleMainB {
     var otherScene = new LogicalScene();
     LogicalMovableObject otherObj1 = new LogicalMovableObject().setName("obj1");
     otherScene.addLogicalMovableObject(otherObj1);
-    otherScene.addLogicalDropOffLocation(new LogicalDropOffLocation().setName("placeAlfa"));
-    otherScene.addLogicalDropOffLocation(new LogicalDropOffLocation().setName("placeBeta"));
-    LogicalDropOffLocation otherGamma = new LogicalDropOffLocation().setName("placeGamma");
+    otherScene.addLogicalRegion(new LogicalRegion().setName("placeAlfa"));
+    otherScene.addLogicalRegion(new LogicalRegion().setName("placeBeta"));
+    LogicalRegion otherGamma = new LogicalRegion().setName("placeGamma");
     otherGamma.addContainedObject(otherObj1);
-    otherScene.addLogicalDropOffLocation(otherGamma);
+    otherScene.addLogicalRegion(otherGamma);
     model.addOtherScene(otherScene);
 
     // printing and testing

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

@@ -81,7 +81,7 @@ public class UtilB {
       return "\"" + objName + "\"";
     }
     try {
-      return model.getMyScene().getLogicalScene().resolveLogicalObjectOfInterest(objName).toString();
+      return model.getMyScene().getLogicalScene().resolveLogicalObjectOfInterest(objName).getName();
     } catch (NullPointerException ignore) {
       return "+" + objName + "(not resolved)+";
     }
@@ -122,6 +122,7 @@ public class UtilB {
       sb.append(" (unset)\n");
     }
     sb.append("Diff: ").append(model.diffScenes().prettyPrint(Difference::prettyPrint)).append("\n");
+    sb.append("Graph: ").append(model.toReachabilityGraph().prettyPrint()).append("\n");
     sb.append("Operations: ").append(model.diffToOperations().prettyPrint(Operation::prettyPrint)).append("\n");
     sb.append("Next operation: ").append(model.getNextOperation().prettyPrint()).append("\n");
     return sb.toString();

ros3rag.placeB/src/main/resources/config-scene-b-2022.json

+{ "objects": [
+  { "id": "tablePillar1","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": "tablePillar2","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": "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": "P1","type": "DROP_OFF_LOCATION","pos": { "x": 1,"y": 2,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "b": 1 } },
+  { "id": "P2","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": "P3","type": "DROP_OFF_LOCATION","pos": { "x": 2,"y": 3,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "g": 1 } },
+  { "id": "P4","type": "DROP_OFF_LOCATION","pos": { "x": 8,"y": 4,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "r": 1, "g": 1 } },
+  { "id": "P5","type": "DROP_OFF_LOCATION","pos": { "x": 2,"y": 2,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "r": 1, "b": 1 } },
+  { "id": "P6","type": "DROP_OFF_LOCATION","pos": { "x": 8,"y": 2,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "r": 1, "b": 1 } },
+  { "id": "P-E","type": "DROP_OFF_LOCATION","pos": { "x": 5,"y": 4,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "r": 1, "b": 1 } },
+  { "id": "P-F","type": "DROP_OFF_LOCATION","pos": { "x": 5,"y": 2,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "r": 1, "b": 1 } },
+  { "id": "O1","type": "BOX","pos": { "x": 1,"y": 2,"z": 0.8105 },"size": { "length": 0.031,"width": 0.062,"height": 0.121 },"orientation": { "z": 0.382683,"w": 0.92388 },"color": { "r": 1 } },
+  { "id": "O2","type": "BOX","pos": { "x": 8,"y": 3, "z": 0.8105 },"size": { "length": 0.031,"width": 0.062,"height": 0.121 },"orientation": { "w": 1 },"color": { "r": 1 } },
+  { "id": "O3","type": "BOX","pos": { "x": 2, "y": 3, "z": 0.819 },"size": { "length": 0.031,"width": 0.031,"height": 0.138 },"orientation": { "z": 0.382683,"w": 0.92388 },"color": { "r": 1 } },
+  { "id": "O4-uninvolved","type": "BOX","pos": { "x": 1, "y": 4,"z": 0.8105 },"size": {"length":0.031,"width":0.062,"height":0.121},"orientation": { "z": 0.382683,"w": 0.92388 },"color": { "g": 1 } },
+  { "id": "O5-uninvolved","type": "BOX","pos": { "x": 1, "y": 3,"z": 0.8105 },"size": {"length":0.031,"width":0.031,"height":0.138},"orientation": { "z": 0.382683,"w": 0.92388 },"color": { "g": 1 } },
+  { "id": "O6-uninvolved","type": "BOX","pos": { "x": 7, "y": 3,"z": 0.819 },"size": {"length":0.031,"width":0.062,"height":0.121},"orientation": { "z": 0.382683, "w": 0.92388 },"color": { "g": 1 } },
+  { "id": "R1","type": "ARM","pos": { "x": 1.5, "y": 3, "z": 0.75 },"size": { },"orientation": { "w": 1 },"color": { "r": 1.00,"g": 1.00,"b": 1.00 } },
+  { "id": "R2","type": "ARM","pos": { "x": 8, "y": 3, "z": 0.75 },"size": { },"orientation": { "w": 1 },"color": { "r": 1.00,"g": 1.00,"b": 1.00 } }
+] }

ros3rag.placeB/src/main/resources/mappping-b.json

+{
+  "mappings": [
+    { "location": "L1", "positions": ["P1"] },
+    { "location": "L2", "positions": ["P2"] },
+    { "location": "L3", "positions": ["P3"] },
+    { "location": "L4", "positions": ["P4"] },
+    { "location": "L5", "positions": ["P5"] },
+    { "location": "L6", "positions": ["P6"] },
+    { "location": "L-E", "positions": ["P-E"] },
+    { "location": "L-F", "positions": ["P-F"] }
+  ]
+}

ros3rag.placeB/src/main/resources/reachability-b-r1-2022.json

+{
+  "idRobot": "R1",
+  "objects": [
+    { "idObject": "O1", "reachable": true },
+    { "idObject": "O2", "reachable": false },
+    { "idObject": "O3", "reachable": true },
+    { "idObject": "O4-uninvolved", "reachable": true },
+    { "idObject": "O5-uninvolved", "reachable": true },
+    { "idObject": "O6-uninvolved", "reachable": false },
+    { "idObject": "P1", "reachable": true },
+    { "idObject": "P2", "reachable": false },
+    { "idObject": "P3", "reachable": true },
+    { "idObject": "P4", "reachable": false },
+    { "idObject": "P5", "reachable": true },
+    { "idObject": "P6", "reachable": false },
+    { "idObject": "P-E", "reachable": true },
+    { "idObject": "P-F", "reachable": true }
+  ]
+}

ros3rag.placeB/src/main/resources/reachability-b-r2-2022.json

+{
+  "idRobot": "R2",
+  "objects": [
+    { "idObject": "O1", "reachable": false },
+    { "idObject": "O2", "reachable": true },
+    { "idObject": "O3", "reachable": false },
+    { "idObject": "O4-uninvolved", "reachable": false },
+    { "idObject": "O5-uninvolved", "reachable": false },
+    { "idObject": "O6-uninvolved", "reachable": true },
+    { "idObject": "P1", "reachable": false },
+    { "idObject": "P2", "reachable": true },
+    { "idObject": "P3", "reachable": false },
+    { "idObject": "P4", "reachable": true },
+    { "idObject": "P5", "reachable": false },
+    { "idObject": "P6", "reachable": true },
+    { "idObject": "P-E", "reachable": true },
+    { "idObject": "P-F", "reachable": true }
+  ]
+}