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/scenarios/MovePlatformTest/startPlatformOnly.sh b/scenarios/MovePlatformTest/startPlatformOnly.sh
deleted file mode 100755
index 47ddd1ccacfa44342f2eeeaf743fd7b6cab93d45..0000000000000000000000000000000000000000
--- a/scenarios/MovePlatformTest/startPlatformOnly.sh
+++ /dev/null
@@ -1,23 +0,0 @@
-
-export CORE_PATH=../../../Core
-export GUI_PATH=../../../Gui
-export VISIONX_PATH=../..././VisionX
-export ARMAR4_PATH=../../../Armar4
-export HUMANOIDROBOTAPI_PATH=../../../RobotAPI
-export SCRIPT_PATH=$CORE_PATH/build/bin
-export SIMULATION_PATH=../../../SimulationX
-
-export CORE_BIN_PATH=$CORE_PATH/build/bin
-export GUI_BIN_PATH=$GUI_PATH/build/bin
-export VISIONX_BIN_PATH=$VISIONX_PATH/build/bin
-export ARMAR4_BIN_PATH=$ARMAR4_PATH/build/bin
-export HUMANOIDROBOTAPI_BIN_PATH=$HUMANOIDROBOTAPI_PATH/build/bin
-
-export GLOBAL_CONFIG=./configs/Global.cfg
-
-# armarx components
-#$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/PlatformUnitObserverRun --Ice.Config=$GLOBAL_CONFIG,./configs/PlatformUnitObserver.cfg &
-#$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/SystemObserverRun --Ice.Config=$GLOBAL_CONFIG &
-#$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/RobotControlRun --Ice.Config=$GLOBAL_CONFIG &
-#$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/ConditionHandlerRun --Ice.Config=$GLOBAL_CONFIG &
-$SCRIPT_PATH/startApplication.sh $HUMANOIDROBOTAPI_BIN_PATH/MovePlatformAppRun --Ice.Config=$GLOBAL_CONFIG &
diff --git a/scenarios/MovePlatformToLandmarkTest/configs/MovePlatformToLandmarkExampleGraph.xml b/scenarios/MovePlatformToLandmarkTest/configs/MovePlatformToLandmarkExampleGraph.xml
index eb7b830d557258ec9f561a9589d54932a49b4865..068d84b2447bb5ae98e14dd9534c881e6af8f01a 100644
--- a/scenarios/MovePlatformToLandmarkTest/configs/MovePlatformToLandmarkExampleGraph.xml
+++ b/scenarios/MovePlatformToLandmarkTest/configs/MovePlatformToLandmarkExampleGraph.xml
@@ -4,13 +4,14 @@
x/y are in mm
for now z=rotation around z axis in radian (values from about -PI to +PI)
-->
- <targetLandmark>oven</targetLandmark>
+ <targetLandmark>TableWithRolls</targetLandmark>
+ <!-- frame serves as a node name -->
<landmarkNodes>
<Item0>
<x>0</x>
<y>0</y>
<z>0</z>
- <frame>start</frame>
+ <frame>Start</frame>
</Item0>
<Item1>
<x>4200</x>
@@ -28,7 +29,7 @@
<x>4200</x>
<y>4000</y>
<z>3</z>
- <frame>handover</frame>
+ <frame>Handover</frame>
</Item3>
<Item4>
<x>3100</x>
@@ -46,39 +47,41 @@
<x>2600</x>
<y>7600</y>
<z>0.8</z>
- <frame>oven</frame>
+ <frame>Oven</frame>
</Item6>
<Item7>
<x>3300</x>
<y>7150</y>
<z>-1.6</z>
- <frame>table</frame>
+ <frame>TableWithRolls</frame>
</Item7>
<Item8>
<x>2600</x>
<y>9600</y>
<z>0.1</z>
- <frame>sink</frame>
+ <frame>Sink</frame>
</Item8>
<Item9>
<x>4500</x>
<y>9400</y>
<z>0</z>
- <frame>cupboard</frame>
+ <frame>Cupboard7Door</frame>
</Item9>
</landmarkNodes>
+ <!-- each edge is defined as "<nodename>;<nodename>" (";" is a delimiter between names,
+ so it shouldn't appear in any node name), all edges are bidirectional between the provided nodes -->
<landmarkEdges>
- <Item0>start-1</Item0>
- <Item1>1-2</Item1>
- <Item2>2-handover</Item2>
- <Item3>2-3</Item3>
- <Item4>3-4</Item4>
- <Item5>3-oven</Item5>
- <Item6>3-table</Item6>
- <Item7>4-oven</Item7>
- <Item8>4-table</Item8>
- <Item9>4-sink</Item9>
- <Item10>4-cupboard</Item10>
+ <Item0>start;1</Item0>
+ <Item1>1;2</Item1>
+ <Item2>2;Handover</Item2>
+ <Item3>2;3</Item3>
+ <Item4>3;4</Item4>
+ <Item5>3;Oven</Item5>
+ <Item6>3;TableWithRolls</Item6>
+ <Item7>4;Oven</Item7>
+ <Item8>4;TableWithRolls</Item8>
+ <Item9>4;Sink</Item9>
+ <Item10>4;Cupboard7Door</Item10>
</landmarkEdges>
<positionalAccuracy>10</positionalAccuracy> <!--mm-->
<orientationalAccuracy>0.1</orientationalAccuracy> <!--rad-->
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);
diff --git a/source/RobotAPI/statecharts/MovePlatform/PlatformContext.h b/source/RobotAPI/statecharts/MovePlatform/PlatformContext.h
index aa69d53dace4e5304ec530efebe309486eba7668..f966ae28646e38dfc32293e0003cd60eab6ce61c 100644
--- a/source/RobotAPI/statecharts/MovePlatform/PlatformContext.h
+++ b/source/RobotAPI/statecharts/MovePlatform/PlatformContext.h
@@ -30,6 +30,7 @@
#include <Core/statechart/StatechartContext.h>
#include <Core/robotstate/remote/RemoteRobot.h>
#include <Core/interface/units/PlatformUnitInterface.h>
+#include <Core/interface/observers/PlatformUnitObserverInterface.h>
#include <Core/units/PlatformUnitObserver.h>
//#include <VirtualRobot/VirtualRobot.h>
diff --git a/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.cpp b/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.cpp
index c3c006edbd5bef7ac04a95489e77e0173a590bb7..ddcd9e2a7c8040392c8ef5e6120e0e79a1b44897 100644
--- a/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.cpp
+++ b/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.cpp
@@ -125,7 +125,7 @@ namespace armarx
for (int i = 0; i < landmarkEdges->getSize(); i++) {
std::string edge = landmarkEdges->getVariant(i)->getString();
std::vector<std::string> edgeNodes;
- boost::split(edgeNodes, edge, boost::is_any_of("-"), boost::token_compress_on);
+ boost::split(edgeNodes, edge, boost::is_any_of(";"), boost::token_compress_on);
NodePtr left = nameToNodeMap[edgeNodes[0]];
NodePtr right = nameToNodeMap[edgeNodes[1]];
left->successors.push_back(right);