diff --git a/scenarios/MovePlatformTest/configs/MovePlatformExampleCloseToTable.xml b/scenarios/MovePlatformTest/configs/MovePlatformExampleCloseToTable.xml
new file mode 100644
index 0000000000000000000000000000000000000000..791e75adbdeb3eed788b4846e60ee4f6f6ee3704
--- /dev/null
+++ b/scenarios/MovePlatformTest/configs/MovePlatformExampleCloseToTable.xml
@@ -0,0 +1,28 @@
+<MovePlatformStateChart>
+  <StateParameters>
+    <!--
+    x/y are in mm
+    for now z=rotation around z axis in radian
+    -->
+    <targetPositions>
+        <Item0>
+			<x>3400</x>
+			<y>7150</y>
+			<z>-1.6</z>
+        </Item0>
+    </targetPositions>
+
+    <!--unreachable-->
+    <!--targetPositions>
+        <Item0>
+            <x>5000</x>
+            <y>5000</y>
+            <z>0</z>
+        </Item0>
+    </targetPositions-->
+    <positionalAccuracy>10</positionAccuracy> <!--mm-->
+    <orientationalAccuracy>0.1</orientationAccuracy> <!--rad-->
+    <timeoutMoveTo>30000</timeoutMoveTO>
+  </StateParameters>
+</MovePlatformStateChart>
+
diff --git a/source/RobotAPI/statecharts/MovePlatform/MovePlatform.cpp b/source/RobotAPI/statecharts/MovePlatform/MovePlatform.cpp
index d0d48e1bb3b35bdf4c6a3c3f959776d49b59da93..970cf7f292e44a57cc0def318aaa6877077a04c7 100644
--- a/source/RobotAPI/statecharts/MovePlatform/MovePlatform.cpp
+++ b/source/RobotAPI/statecharts/MovePlatform/MovePlatform.cpp
@@ -51,7 +51,8 @@ namespace armarx
     // ****************************************************************
     void StatechartMovePlatform::defineParameters()
     {
-        setConfigFile("RobotAPI/scenarios/MovePlatformTest/configs/MovePlatformExample.xml");
+//        setConfigFile("RobotAPI/scenarios/MovePlatformTest/configs/MovePlatformExample.xml");
+        setConfigFile("RobotAPI/scenarios/MovePlatformTest/configs/MovePlatformExampleCloseToTable.xml");
         addToInput("targetPositions", VariantType::List(VariantType::Vector3), false);
         addToInput("positionalAccuracy", VariantType::Float, false);
         addToInput("orientationalAccuracy", VariantType::Float, false);