diff --git a/GraspPlanning/ExternalDependencies/qhull-2003.1/CMakeLists.txt.bak b/GraspPlanning/ExternalDependencies/qhull-2003.1/CMakeLists.txt.bak
deleted file mode 100644
index 7274015d4de5a8f5753950b025b5df3e8b1ccb53..0000000000000000000000000000000000000000
--- a/GraspPlanning/ExternalDependencies/qhull-2003.1/CMakeLists.txt.bak
+++ /dev/null
@@ -1,35 +0,0 @@
-PROJECT(qhull)
-
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6.0)
-CMAKE_POLICY(VERSION 2.6)
-
-INCLUDE (${GRASPSTUDIO_DIR}/config.cmake)
-SET (GRASPSTUDIO_VirtualRobotDir ${GRASPSTUDIO_SimoxDir}/VirtualRobot)
-INCLUDE (${GRASPSTUDIO_VirtualRobotDir}/config.cmake)
-
-MESSAGE(STATUS "** qHull VirtualRobotDir: ${GRASPSTUDIO_VirtualRobotDir}")
-
-
-# Specify sources and headers
-FILE(GLOB SRCS ${PROJECT_SOURCE_DIR}/src/*.c)
-FILE(GLOB INCS ${PROJECT_SOURCE_DIR}/src/*.h)
-
-INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/include ${PROJECT_SOURCE_DIR}/src)
-ADD_LIBRARY(${PROJECT_NAME} STATIC ${SRCS} ${INCS})
-
-SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES FOLDER "3rd_Party")
-
-# .DLL path
-SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${GRASPSTUDIO_BIN_DIR})
-# .so path
-SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${GRASPSTUDIO_LIB_DIR})
-# .lib path (this is needed for setting the DLL-import library path on windows)
-SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES ARCHIVE_OUTPUT_DIRECTORY ${GRASPSTUDIO_LIB_DIR})
-
-
-TARGET_LINK_LIBRARIES(${PROJECT_NAME})
-MESSAGE(" ** ${PROJECT_NAME} will be placed into " ${GRASPSTUDIO_LIB_DIR})
-MESSAGE(" ** ${PROJECT_NAME} will be installed into " ${GRASPSTUDIO_INSTALL_LIB_DIR})
-
-INSTALL(TARGETS ${PROJECT_NAME} DESTINATION ${GRASPSTUDIO_INSTALL_LIB_DIR})
-
diff --git a/MotionPlanning/examples/RrtGui/RrtGuiWindow.cpp b/MotionPlanning/examples/RrtGui/RrtGuiWindow.cpp
index aab72b88e5dbe6bb90c65316ca0e148543282cfb..010c29d73588dba551f206e3bcb3c216f57be6bc 100644
--- a/MotionPlanning/examples/RrtGui/RrtGuiWindow.cpp
+++ b/MotionPlanning/examples/RrtGui/RrtGuiWindow.cpp
@@ -228,6 +228,7 @@ void RrtGuiWindow::loadSceneWindow()
 
 void RrtGuiWindow::loadScene()
 {
+	this->rns.reset();
 	robot.reset();
 	scene = SceneIO::loadScene(sceneFile);
 	if (!scene)
@@ -468,8 +469,8 @@ void RrtGuiWindow::buildRRTVisu()
 		w->addCSpacePath(solution);
 	if (UI.checkBoxShowSolutionOpti->isChecked() && solutionOptimized)
 		w->addCSpacePath(solutionOptimized,Saba::CoinRrtWorkspaceVisualization::eGreen);
-	w->addConfiguration(startConfig,Saba::CoinRrtWorkspaceVisualization::eGreen,3.0f);
-	w->addConfiguration(goalConfig,Saba::CoinRrtWorkspaceVisualization::eRed,3.0f);
+	//w->addConfiguration(startConfig,Saba::CoinRrtWorkspaceVisualization::eGreen,3.0f);
+	//w->addConfiguration(goalConfig,Saba::CoinRrtWorkspaceVisualization::eRed,3.0f);
 	SoSeparator *sol = w->getCoinVisualization();
 	rrtSep->addChild(sol);
 }
diff --git a/VirtualRobot/RuntimeEnvironment.cpp b/VirtualRobot/RuntimeEnvironment.cpp
index 97468a7119ef5e277be58217e15de20d3f591467..f1eb44698d14b2fefd18f41bd89a6a3a41dbf151 100644
--- a/VirtualRobot/RuntimeEnvironment.cpp
+++ b/VirtualRobot/RuntimeEnvironment.cpp
@@ -89,6 +89,7 @@ namespace VirtualRobot
 			}
 		}
 	}
+
 	bool RuntimeEnvironment::getDataFileAbsolute( std::string &fileName )
 	{
 		if (!pathInitialized)
@@ -96,23 +97,45 @@ namespace VirtualRobot
 
 		boost::filesystem::path fn(fileName);
 
+		try 
+		{
+			// first check current path
+			if (boost::filesystem::exists(fn) && boost::filesystem::is_regular_file(fn))
+			{
+				fileName = fn.string();
+				return true;
+			}
+		}
+		catch (const boost::filesystem::filesystem_error& /*ex*/)
+		{
+			//cout << ex.what() << '\n';
+			// silently skip this error (e.g. device not ready, permission denied etc)
+		}
+
 		for (size_t i=0;i<dataPaths.size();i++)
 		{
 			boost::filesystem::path p(dataPaths[i]);
 
 			boost::filesystem::path fnComplete = boost::filesystem::operator/(p,fn);
-			if (boost::filesystem::exists(fnComplete))
+			try 
 			{
-				fileName = fnComplete.string();
-				return true;
+				if (boost::filesystem::exists(fnComplete) && boost::filesystem::is_regular_file(fnComplete))
+				{
+					// check for permissions (todo)
+					//boost::filesystem::file_status s = boost::filesystem::status(fnComplete);
+					//printf("%o\n",s.permissions());
+
+					fileName = fnComplete.string();
+					return true;
+				}
+			}
+			catch (const boost::filesystem::filesystem_error& /*ex*/)
+			{
+				//cout << ex.what() << '\n';
+				// silently skip this error (e.g. device not ready, permission denied etc)
 			}
 		}
-		// last chance: check current path
-		if (boost::filesystem::exists(fn))
-		{
-			fileName = fn.string();
-			return true;
-		}
+		
 		return false;
 	}