diff --git a/source/RobotAPI/components/ArViz/Client/Elements.h b/source/RobotAPI/components/ArViz/Client/Elements.h
index 297a22469d52be8b7cda3c71438f6ee0617c0091..66f07992e0ba2dc0c382b3a9742a5413c9f192b6 100644
--- a/source/RobotAPI/components/ArViz/Client/Elements.h
+++ b/source/RobotAPI/components/ArViz/Client/Elements.h
@@ -122,6 +122,13 @@ namespace armarx::viz
         )
             : Box(name, b)
         {}
+
+        Box(std::string const& id)
+            : ElementOps(id)
+        {
+            pose(Eigen::Matrix4f::Identity());
+        }
+
     };
 
 
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.cpp b/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.cpp
index 456671e79cc764fc577121082967fcc52e341361..4fcd3e452040b179aa92e8a3928d32d05abaaf60 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.cpp
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.cpp
@@ -57,7 +57,7 @@ namespace armarx
         controller->activateController();
     }
 
-    void VelocityControllerHelper::setTargetVelocity(const Eigen::VectorXf& cv)
+    void VelocityControllerHelper::setTargetVelocity(const Eigen::Vector6f& cv)
     {
         controller->setTargetVelocity(cv(0), cv(1), cv(2), cv(3), cv(4), cv(5));
     }
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.h b/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.h
index c93de51afea1f663deda3e5f458cfe9f65acf8d7..ab47ffaccc480f999f214df3f5dbb908549f1ad7 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.h
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.h
@@ -43,7 +43,7 @@ namespace armarx
 
         void init();
 
-        void setTargetVelocity(const Eigen::VectorXf& cv);
+        void setTargetVelocity(const Eigen::Vector6f& cv);
 
         void setNullSpaceControl(bool enabled);
 
diff --git a/source/RobotAPI/libraries/armem/util/util.h b/source/RobotAPI/libraries/armem/util/util.h
index 91a31651cf055572dd6c3e8fcbb27163e4d30918..f7335ec9498212fdf10fce0f4106cb12aced2c61 100644
--- a/source/RobotAPI/libraries/armem/util/util.h
+++ b/source/RobotAPI/libraries/armem/util/util.h
@@ -22,10 +22,11 @@
 
 #pragma once
 
-#include "ArmarXCore/core/logging/Logging.h"
 #include <vector>
 #include <optional>
 
+#include "ArmarXCore/core/logging/Logging.h"
+
 #include <RobotAPI/libraries/armem/core/workingmemory/Entity.h>
 #include <RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h>
 #include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h>
diff --git a/source/RobotAPI/libraries/core/CartesianVelocityControllerWithRamp.h b/source/RobotAPI/libraries/core/CartesianVelocityControllerWithRamp.h
index ff1ff84535fad72d2fd3ef06e3adda8b7c9d08ba..1a73b84900971b6cafe810bedd219998362a29a4 100644
--- a/source/RobotAPI/libraries/core/CartesianVelocityControllerWithRamp.h
+++ b/source/RobotAPI/libraries/core/CartesianVelocityControllerWithRamp.h
@@ -49,7 +49,7 @@ namespace armarx
         CartesianVelocityControllerWithRamp(CartesianVelocityControllerWithRamp&&) = default;
         CartesianVelocityControllerWithRamp& operator=(CartesianVelocityControllerWithRamp&&) = default;
 
-        [[deprecated("compued null space velocity does not match pseudo inverse svd method in simox. never use this function.")]]
+        [[deprecated("computed null space velocity does not match pseudo inverse svd method in simox. never use this function.")]]
         void setCurrentJointVelocity(const Eigen::Ref<const Eigen::VectorXf>& currentJointVelocity);
 
         void switchMode(const Eigen::VectorXf& currentJointVelocity, VirtualRobot::IKSolver::CartesianSelection mode);