diff --git a/source/armarx/navigation/statecharts/NavigationGroup/CMakeLists.txt b/source/armarx/navigation/statecharts/NavigationGroup/CMakeLists.txt
index f7a4297586b65b68b2f068d24d3cf74c7f3765d2..77a2881fd2425a4db78b5fa0d510262a08636a07 100644
--- a/source/armarx/navigation/statecharts/NavigationGroup/CMakeLists.txt
+++ b/source/armarx/navigation/statecharts/NavigationGroup/CMakeLists.txt
@@ -1,7 +1,6 @@
 armarx_add_statechart(NavigationGroup
     SOURCES
         NavigationGroupRemoteStateOfferer.cpp
-        NavigateToLocation.cpp
     HEADERS
         NavigationGroupRemoteStateOfferer.h
     DEPENDENCIES
diff --git a/source/armarx/navigation/statecharts/NavigationGroup/NavigateBetweenLocations.xml b/source/armarx/navigation/statecharts/NavigationGroup/NavigateBetweenLocations.xml
index fc6724c9861d56c32ed85a02fb33e53cb7774daf..3fd662856e90adb9a2f8435745c88cc51f20d053 100644
--- a/source/armarx/navigation/statecharts/NavigationGroup/NavigateBetweenLocations.xml
+++ b/source/armarx/navigation/statecharts/NavigationGroup/NavigateBetweenLocations.xml
@@ -66,3 +66,4 @@
 		</Transition>
 	</Transitions>
 </State>
+
diff --git a/source/armarx/navigation/statecharts/NavigationGroup/NavigateToLocation.cpp b/source/armarx/navigation/statecharts/NavigationGroup/NavigateToLocation.cpp
index 7259e4d8c049f152502f7cecc65186e852d4d5da..cef91163a5575444f3e05c0caaf6ede48075cd00 100644
--- a/source/armarx/navigation/statecharts/NavigationGroup/NavigateToLocation.cpp
+++ b/source/armarx/navigation/statecharts/NavigationGroup/NavigateToLocation.cpp
@@ -85,7 +85,7 @@ namespace armarx::navigation::statecharts::navigation_group
 
         // assemble the path, which might consist of waypoints and a goal (the goal is just the last `waypoint`)
         client::PathBuilder builder;
-        builder.add(in.getlocation(), client::GlobalPlanningStrategy::Free);
+        builder.add(in.getlocation(), client::GlobalPlanningStrategy::Point2Point);
 
         // execute
         ARMARX_INFO << "Sending navigation request";
diff --git a/source/armarx/navigation/statecharts/NavigationGroup/NavigateToLocation.xml b/source/armarx/navigation/statecharts/NavigationGroup/NavigateToLocation.xml
index 271ce47a7e2136ba094d5de40ff919c23fb67231..9a2952543b92c0b587db8e908ce34502e193fec0 100644
--- a/source/armarx/navigation/statecharts/NavigationGroup/NavigateToLocation.xml
+++ b/source/armarx/navigation/statecharts/NavigationGroup/NavigateToLocation.xml
@@ -2,7 +2,7 @@
 <State version="1.2" name="NavigateToLocation" uuid="11145B85-CD8C-4B7C-AF2F-65FCB07F6568" width="800" height="600" type="Normal State">
 	<InputParameters>
 		<Parameter name="location" type="::armarx::StringVariantData" docType="string" optional="yes">
-			<DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"R003/home"}}' docValue="R003/home"/>
+			<DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"R003/sh_center"}}' docValue="R003/sh_center"/>
 		</Parameter>
 	</InputParameters>
 	<OutputParameters/>
@@ -16,3 +16,4 @@
 	</Events>
 	<Transitions/>
 </State>
+
diff --git a/source/armarx/navigation/statecharts/NavigationGroup/NavigationGroup.scgxml b/source/armarx/navigation/statecharts/NavigationGroup/NavigationGroup.scgxml
index 6e4e45c3a9b0f2caeee0d2560e504b58d3909c23..280a79d50e87e9c7d5c11867737740ee5a321a4b 100644
--- a/source/armarx/navigation/statecharts/NavigationGroup/NavigationGroup.scgxml
+++ b/source/armarx/navigation/statecharts/NavigationGroup/NavigationGroup.scgxml
@@ -4,7 +4,7 @@
 		<Proxy value="RobotAPIInterfaces.MemoryNameSystem"/>
 		<Proxy value="armarx_navigation::client.navigator"/>
 	</Proxies>
-	<Configurations/>
 	<State filename="NavigateBetweenLocations.xml" visibility="public"/>
 	<State filename="NavigateToLocation.xml" visibility="public"/>
 </StatechartGroup>
+