diff --git a/BehaviorNavigationScenario/.classpath b/BehaviorNavigationScenario/.classpath
index 3fe06ea..4928971 100644
--- a/BehaviorNavigationScenario/.classpath
+++ b/BehaviorNavigationScenario/.classpath
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
-	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER"/>
 	<classpathentry kind="src" path="model"/>
+	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER"/>
 	<classpathentry kind="src" path="/CommBasicObjects"/>
 	<classpathentry kind="src" path="/CommLocalizationObjects"/>
 	<classpathentry kind="src" path="/CommNavigationObjects"/>
diff --git a/BehaviorNavigationScenario/.cproject b/BehaviorNavigationScenario/.cproject
index b6d9692..8c64073 100644
--- a/BehaviorNavigationScenario/.cproject
+++ b/BehaviorNavigationScenario/.cproject
@@ -18,16 +18,16 @@
 					<folderInfo id="cdt.managedbuild.config.gnu.exe.release.675787612." name="/" resourcePath="">
 						<toolChain id="cdt.managedbuild.toolchain.gnu.exe.release.655270899" name="Linux GCC" superClass="cdt.managedbuild.toolchain.gnu.exe.release">
 							<targetPlatform id="cdt.managedbuild.target.gnu.platform.exe.release.1822093078" name="Debug Platform" superClass="cdt.managedbuild.target.gnu.platform.exe.release"/>
-							<builder buildPath="${workspace_loc:/BehaviorNavigationScenario}/Release" id="cdt.managedbuild.config.gnu.exe.release.675787612" name="SmartMDSD Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="org.smartmdsd.utils.smartmdsd.builder"/>
+							<builder buildPath="${workspace_loc:/BehaviorNavigationScenario}/Release" id="cdt.managedbuild.config.gnu.exe.release.675787612" keepEnvironmentInBuildfile="false" name="SmartMDSD Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="org.smartmdsd.utils.smartmdsd.builder"/>
 							<tool id="cdt.managedbuild.tool.gnu.archiver.base.443045390" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>
 							<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.exe.release.80933860" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.exe.release">
-								<option id="gnu.cpp.compiler.exe.release.option.optimization.level.248887601" superClass="gnu.cpp.compiler.exe.release.option.optimization.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.optimization.level.most" valueType="enumerated"/>
-								<option defaultValue="gnu.cpp.compiler.debugging.level.none" id="gnu.cpp.compiler.exe.release.option.debugging.level.2135694801" superClass="gnu.cpp.compiler.exe.release.option.debugging.level" useByScannerDiscovery="false" valueType="enumerated"/>
+								<option id="gnu.cpp.compiler.exe.release.option.optimization.level.248887601" name="Optimization Level" superClass="gnu.cpp.compiler.exe.release.option.optimization.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.optimization.level.most" valueType="enumerated"/>
+								<option defaultValue="gnu.cpp.compiler.debugging.level.none" id="gnu.cpp.compiler.exe.release.option.debugging.level.2135694801" name="Debug Level" superClass="gnu.cpp.compiler.exe.release.option.debugging.level" useByScannerDiscovery="false" valueType="enumerated"/>
 								<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.639794007" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
 							</tool>
 							<tool id="cdt.managedbuild.tool.gnu.c.compiler.exe.release.1646907765" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.exe.release">
-								<option defaultValue="gnu.c.optimization.level.most" id="gnu.c.compiler.exe.release.option.optimization.level.1824165605" superClass="gnu.c.compiler.exe.release.option.optimization.level" useByScannerDiscovery="false" valueType="enumerated"/>
-								<option defaultValue="gnu.c.debugging.level.none" id="gnu.c.compiler.exe.release.option.debugging.level.1633653680" superClass="gnu.c.compiler.exe.release.option.debugging.level" useByScannerDiscovery="false" valueType="enumerated"/>
+								<option defaultValue="gnu.c.optimization.level.most" id="gnu.c.compiler.exe.release.option.optimization.level.1824165605" name="Optimization Level" superClass="gnu.c.compiler.exe.release.option.optimization.level" useByScannerDiscovery="false" valueType="enumerated"/>
+								<option defaultValue="gnu.c.debugging.level.none" id="gnu.c.compiler.exe.release.option.debugging.level.1633653680" name="Debug Level" superClass="gnu.c.compiler.exe.release.option.debugging.level" useByScannerDiscovery="false" valueType="enumerated"/>
 								<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.1965867031" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
 							</tool>
 							<tool id="cdt.managedbuild.tool.gnu.c.linker.exe.release.1575387049" name="GCC C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.exe.release"/>
@@ -63,16 +63,16 @@
 					<folderInfo id="cdt.managedbuild.config.gnu.exe.debug.1495533714." name="/" resourcePath="">
 						<toolChain id="cdt.managedbuild.toolchain.gnu.exe.debug.1339257641" name="Linux GCC" superClass="cdt.managedbuild.toolchain.gnu.exe.debug">
 							<targetPlatform id="cdt.managedbuild.target.gnu.platform.exe.debug.790611455" name="Debug Platform" superClass="cdt.managedbuild.target.gnu.platform.exe.debug"/>
-							<builder buildPath="${workspace_loc:/BehaviorNavigationScenario}/Debug" id="cdt.managedbuild.config.gnu.exe.debug.1495533714" name="SmartMDSD Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="org.smartmdsd.utils.smartmdsd.builder"/>
+							<builder buildPath="${workspace_loc:/BehaviorNavigationScenario}/Debug" id="cdt.managedbuild.config.gnu.exe.debug.1495533714" keepEnvironmentInBuildfile="false" name="SmartMDSD Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="org.smartmdsd.utils.smartmdsd.builder"/>
 							<tool id="cdt.managedbuild.tool.gnu.archiver.base.776311427" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>
 							<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.exe.debug.1681596869" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.exe.debug">
-								<option id="gnu.cpp.compiler.exe.debug.option.optimization.level.79765811" superClass="gnu.cpp.compiler.exe.debug.option.optimization.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.optimization.level.none" valueType="enumerated"/>
-								<option defaultValue="gnu.cpp.compiler.debugging.level.max" id="gnu.cpp.compiler.exe.debug.option.debugging.level.1893478556" superClass="gnu.cpp.compiler.exe.debug.option.debugging.level" useByScannerDiscovery="false" valueType="enumerated"/>
+								<option id="gnu.cpp.compiler.exe.debug.option.optimization.level.79765811" name="Optimization Level" superClass="gnu.cpp.compiler.exe.debug.option.optimization.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.optimization.level.none" valueType="enumerated"/>
+								<option defaultValue="gnu.cpp.compiler.debugging.level.max" id="gnu.cpp.compiler.exe.debug.option.debugging.level.1893478556" name="Debug Level" superClass="gnu.cpp.compiler.exe.debug.option.debugging.level" useByScannerDiscovery="false" valueType="enumerated"/>
 								<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.1753315241" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
 							</tool>
 							<tool id="cdt.managedbuild.tool.gnu.c.compiler.exe.debug.994183903" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.exe.debug">
-								<option defaultValue="gnu.c.optimization.level.none" id="gnu.c.compiler.exe.debug.option.optimization.level.1949520160" superClass="gnu.c.compiler.exe.debug.option.optimization.level" useByScannerDiscovery="false" valueType="enumerated"/>
-								<option defaultValue="gnu.c.debugging.level.max" id="gnu.c.compiler.exe.debug.option.debugging.level.44062105" superClass="gnu.c.compiler.exe.debug.option.debugging.level" useByScannerDiscovery="false" valueType="enumerated"/>
+								<option defaultValue="gnu.c.optimization.level.none" id="gnu.c.compiler.exe.debug.option.optimization.level.1949520160" name="Optimization Level" superClass="gnu.c.compiler.exe.debug.option.optimization.level" useByScannerDiscovery="false" valueType="enumerated"/>
+								<option defaultValue="gnu.c.debugging.level.max" id="gnu.c.compiler.exe.debug.option.debugging.level.44062105" name="Debug Level" superClass="gnu.c.compiler.exe.debug.option.debugging.level" useByScannerDiscovery="false" valueType="enumerated"/>
 								<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.957301566" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
 							</tool>
 							<tool id="cdt.managedbuild.tool.gnu.c.linker.exe.debug.658466669" name="GCC C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.exe.debug"/>
diff --git a/BehaviorNavigationScenario/.project b/BehaviorNavigationScenario/.project
index 9d4e018..f8b29c9 100644
--- a/BehaviorNavigationScenario/.project
+++ b/BehaviorNavigationScenario/.project
@@ -8,12 +8,6 @@
 		<project>CommNavigationObjects</project>
 	</projects>
 	<buildSpec>
-		<buildCommand>
-			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
-			<triggers>clean,full,incremental,</triggers>
-			<arguments>
-			</arguments>
-		</buildCommand>
 		<buildCommand>
 			<name>org.eclipse.jdt.core.javabuilder</name>
 			<arguments>
@@ -24,20 +18,12 @@
 			<arguments>
 			</arguments>
 		</buildCommand>
-		<buildCommand>
-			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
-			<triggers>full,incremental,</triggers>
-			<arguments>
-			</arguments>
-		</buildCommand>
 	</buildSpec>
 	<natures>
 		<nature>org.eclipse.cdt.core.cnature</nature>
-		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
 		<nature>org.eclipse.xtext.ui.shared.xtextNature</nature>
 		<nature>org.eclipse.jdt.core.javanature</nature>
 		<nature>org.eclipse.cdt.core.ccnature</nature>
 		<nature>org.smartmdsd.utils.natures.BehaviorNature</nature>
-		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
 	</natures>
 </projectDescription>
diff --git a/BehaviorNavigationScenario/model/BehaviorNavigationScenario.smartTcl b/BehaviorNavigationScenario/model/BehaviorNavigationScenario.smartTcl
index bcb79c5..634c0d3 100644
--- a/BehaviorNavigationScenario/model/BehaviorNavigationScenario.smartTcl
+++ b/BehaviorNavigationScenario/model/BehaviorNavigationScenario.smartTcl
@@ -18,6 +18,54 @@
             (backward-dist 500)))
 
 
+(tcl-kb-update 
+  :key '(is-a name) 
+  :value '( 
+            (is-a location)
+            (name sofa)
+            (speech "sofa")
+            (approach-type (region))
+            (approach-region-pose (0 8000 0))
+            (approach-region-dist 150)
+            (approach-exact-pose (0 8000 0))
+            (approach-exact-dist 100)
+            (approach-exact-safetycl 0)
+            (orientation-region (position 1000 9000))
+            (orientation-exact (position 1000 9000))
+            (backward-dist 500)))
+            
+(tcl-kb-update 
+  :key '(is-a name) 
+  :value '( 
+            (is-a location)
+            (name table)
+            (speech "table")
+            (approach-type (region))
+            (approach-region-pose (2500 -2000 0))
+            (approach-region-dist 150)
+            (approach-exact-pose (2500 -2000 0))
+            (approach-exact-dist 100)
+            (approach-exact-safetycl 0)
+            (orientation-region (position 2500 -3000))
+            (orientation-exact (position 2500 -3000))
+            (backward-dist 500)))
+            
+(tcl-kb-update 
+  :key '(is-a name) 
+  :value '( 
+            (is-a location)
+            (name bench)
+            (speech "bench")
+            (approach-type (region))
+            (approach-region-pose (-3000 2200 0))
+            (approach-region-dist 150)
+            (approach-exact-pose (-3000 2200 0))
+            (approach-exact-dist 100)
+            (approach-exact-safetycl 0)
+            (orientation-region (position -4000 2200))
+            (orientation-exact (position -4000 2200))
+            (backward-dist 500)))
+            
 (tcl-kb-update 
   :key '(is-a name) 
   :value '( 
@@ -116,8 +164,6 @@
 
 ; (execute '(navigationTestTask))
 
-
-
 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
 ;; REACTIVE NAV
 ; (execute '(nav1.tcb-reactive-navigation))
@@ -127,8 +173,18 @@
 ; (execute '(nav1.tcb-joystick-navigation))
 ; (execute '(nav1.tcb-stop-joystick-navigation))
 ;;
+; (execute '(localizationModInst.tcb-activate-localization))
 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
 
+;;
+;; (execute '(cameraInst.activateCameraPush))
+;; (execute '(cameraInst.activateCameraQuery))
+;; (execute '(cameraInst.deactivateCamera))
+
+;; (execute '(laserfromrgbdInst.activateLaserGenaration))
+;; (execute '(laserfromrgbdInst.dectivateLaserGenaration))
+
+
 
 (realize-tcb (navigationTestTask)
   (action (	
diff --git a/BehaviorSLAMRGBdLaserCompare/.project b/BehaviorSLAMRGBdLaserCompare/.project
index ccefe4f..c97dc96 100644
--- a/BehaviorSLAMRGBdLaserCompare/.project
+++ b/BehaviorSLAMRGBdLaserCompare/.project
@@ -9,12 +9,6 @@
 		<project>DomainVision</project>
 	</projects>
 	<buildSpec>
-		<buildCommand>
-			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
-			<triggers>clean,full,incremental,</triggers>
-			<arguments>
-			</arguments>
-		</buildCommand>
 		<buildCommand>
 			<name>org.eclipse.jdt.core.javabuilder</name>
 			<arguments>
@@ -25,12 +19,6 @@
 			<arguments>
 			</arguments>
 		</buildCommand>
-		<buildCommand>
-			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
-			<triggers>full,incremental,</triggers>
-			<arguments>
-			</arguments>
-		</buildCommand>
 	</buildSpec>
 	<natures>
 		<nature>org.eclipse.cdt.core.cnature</nature>
diff --git a/BehaviorSLAMRGBdLaserCompare/model/BehaviorSLAMRGBdLaserCompare.taskRealization b/BehaviorSLAMRGBdLaserCompare/model/BehaviorSLAMRGBdLaserCompare.taskRealization
index e9b2744..74f6e76 100644
--- a/BehaviorSLAMRGBdLaserCompare/model/BehaviorSLAMRGBdLaserCompare.taskRealization
+++ b/BehaviorSLAMRGBdLaserCompare/model/BehaviorSLAMRGBdLaserCompare.taskRealization
@@ -13,4 +13,6 @@ TaskRealizationModel BehaviorSLAMRGBdLaserCompare {
 	
    	//this task realization is a dummy (see smartTCL file)
 	//TaskRealization CommNavigationObjects.testTask { }
-}
\ No newline at end of file
+	//(visLaser.startVisualizationOf 'laser1 "ComponentRobotinoLaserServer" "pushNewestServer")
+	
+}