@Domotique69 As you can see in the top left part, the dock teleported itself in an room that does not exist and even tho I manually put back the vaccuum on it it's still in that room.
If this can't be fixed that means the robot will never be able to dock back itself to charge and unload trash making it useless.

The doc moved back to the right place after another cleaning session, still a fix is needed. 

  @Wayne-TP Well the map itself is weirdly generated with many voids being scanned but that's not thr worst part.
Now the docking station disapeared from the map and when the robot is finished working he explore the whole place looking for it.
He ends up eventually at the right place but after many minutes looking for the docking station bumping into walls...

  @Wayne-TP There is only one floor and yes the robot starts cleaning at the dock.
He end up finding the dock but he spends a few minutes exploring the appartment to find it.
Also, if he's on cleaning mode with the wet mop, and I programmed the rugs so he can avoid them, at the end of the cycle he'll go everywhere with the wet mop even on rugs...
Which defeats the purpose of programming rugs...