minor fixes

scenarios/MovePlatformToLandmarkTest/configs/MovePlatformToLandmarkExampleGraph.xml

@@ -67,6 +67,12 @@
 			<z>0</z>
 			<frame>Cupboard7Door</frame>
 		</Item9>
+		<Item10>
+			<x>3200</x>
+			<y>9600</y>
+			<z>0</z>
+			<frame>SinkTable</frame>
+		</Item10>
     </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 -->
@@ -82,9 +88,11 @@
 		<Item8>4;TableWithRolls</Item8>
 		<Item9>4;Sink</Item9>
 		<Item10>4;Cupboard7Door</Item10>
+		<Item11>TableWithRolls;SinkTable</Item11>
     </landmarkEdges>
     <positionalAccuracy>10</positionalAccuracy> <!--mm-->
     <orientationalAccuracy>0.1</orientationalAccuracy> <!--rad-->
     <timeoutMoveTo>30000</timeoutMoveTo>
+    <waitAfterLast>3000</waitAfterLast>
   </StateParameters>
 </MovePlatformToLandmarkStateChart>

scenarios/MovePlatformToLandmarkTest/startScenario.sh

@@ -16,7 +16,7 @@ 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 $HUMANOIDROBOTAPI_BIN_PATH/PlatformUnitObserverRun --Ice.Config=$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 &

source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.cpp

@@ -63,6 +63,7 @@ namespace armarx
         addToInput("positionalAccuracy", VariantType::Float, true);
         addToInput("orientationalAccuracy", VariantType::Float, true);
         addToInput("timeoutMoveTo", VariantType::Int, false);
+        addToInput("waitAfterLast", VariantType::Int, false);
     }
 
     void StatechartMovePlatformToLandmark::defineSubstates()