diff --git a/GraspPlanning/ApproachMovementSurfaceNormal.h b/GraspPlanning/ApproachMovementSurfaceNormal.h
index c49913ce0042caa05d0976a9d660828a8e226e1c..d3f2c5e33fafa61701b6cdaa73a25a2841211b7a 100644
--- a/GraspPlanning/ApproachMovementSurfaceNormal.h
+++ b/GraspPlanning/ApproachMovementSurfaceNormal.h
@@ -53,7 +53,7 @@ public:
 		\param graspPreshape An optional preshape that can be used in order to "open" the eef.
 		\param maxRandDist If >0, the resulting apporach pose is randomly moved in the approach direction (away from the object) in order to create different distances to the object.
 	*/
-	ApproachMovementSurfaceNormal(VirtualRobot::SceneObjectPtr object, VirtualRobot::EndEffectorPtr eef, const std::string &graspPreshape, float maxRandDist = 0.0f);
+	ApproachMovementSurfaceNormal(VirtualRobot::SceneObjectPtr object, VirtualRobot::EndEffectorPtr eef, const std::string &graspPreshape = "", float maxRandDist = 0.0f);
 	//! destructor
 	virtual ~ApproachMovementSurfaceNormal();
 
diff --git a/VirtualRobot/data/objects/iCub/LegoXWing_RightHand_300.xml b/VirtualRobot/data/objects/iCub/LegoXWing_RightHand_300.xml
index 337cd845c968469af17c62070b0f481b24513e31..3746d8e7890cc83f14d58038729c9b94f94a1b0d 100644
--- a/VirtualRobot/data/objects/iCub/LegoXWing_RightHand_300.xml
+++ b/VirtualRobot/data/objects/iCub/LegoXWing_RightHand_300.xml
@@ -1,9 +1,9 @@
 <ManipulationObject name='LegoGate'>
 	<Visualization>
-		<File type='inventor'>C:/Projects/Simox2/VirtualRobot/data/objects/iv/lego_xwing.iv</File>
+		<File type='inventor'>objects/iv/lego_xwing.iv</File>
 	</Visualization>
 	<CollisionModel>
-		<File type='inventor'>C:/Projects/Simox2/VirtualRobot/data/objects/iv/lego_xwing_col.iv</File>
+		<File type='inventor'>objects/iv/lego_xwing_col.iv</File>
 	</CollisionModel>
 	<GraspSet name='Grasp Planner - Right Hand' RobotType='iCub' EndEffector='Right Hand'>
 		<Grasp name='Grasp 1' quality='0.283145' Creation='Simox - GraspStudio - GraspWrenchSpace' Preshape='Grasp Preshape'>