diff --git a/source/RobotAPI/components/units/TCPControlUnit.cpp b/source/RobotAPI/components/units/TCPControlUnit.cpp
index 7b0c9430deac8c04dfabdbef65b08c062c9608f4..f0a9068ef0abd9d89876cc025fe6358d7c9ecd53 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.cpp
+++ b/source/RobotAPI/components/units/TCPControlUnit.cpp
@@ -493,50 +493,10 @@ namespace armarx
             dIK->computeSteps(jointDelta, 0.8f, 0.001, 1, &EDifferentialIK::computeStep); // 1.0, 0.00001, 50
             //            ARMARX_VERBOSE << deactivateSpam(1) << "New Goal: \n" << robotNodeSet->getTCP()->getGlobalPose();
 
-            MatrixXf fullJac = dIK->calcFullJacobian();
-            MatrixXf fullJacInv = dIK->computePseudoInverseJacobianMatrix(fullJac);
-            Eigen::VectorXf jointLimitCompensation = CalcJointLimitAvoidanceDeltas(robotNodeSet, fullJac, fullJacInv);
-
-            // for debugging only!
-            /*{
-                MatrixXf posJac = fullJac.block(0, 0, fullJac.rows(), 3);
-                MatrixXf oriJac = fullJac.block(0, 3, fullJac.rows(), 3);
-                JacobiSVD<MatrixXf> svdPos(posJac);
-                JacobiSVD<MatrixXf> svdOri(oriJac);
-                if (svdPos.singularValues()[2] < 90)
-                {
-                    ARMARX_IMPORTANT  << deactivateSpam() << "The robot is close to a singularity! Minimal singular value of the position Jacobian: " << svdPos.singularValues()[2];
-                }
-                if (svdOri.singularValues()[2] < 0.6)
-                {
-                    ARMARX_IMPORTANT << deactivateSpam() << "The robot is close to a singularity! Minimal singular value of the orientation Jacobian: " << svdOri.singularValues()[2];
-                }
-            }*/
-
-            // added by David S
-            const float maxJointLimitCompensationRatio = 1.0f;
-
-            //            if (jointLimitCompensation(0) == jointLimitCompensation(0))
-            //            {
-            //                //                if (jointLimitCompensation.norm() > maxJointLimitCompensationRatio * jointDelta.norm())
-            //                //                {
-            //                //                    jointLimitCompensation = maxJointLimitCompensationRatio * jointDelta.norm() / jointLimitCompensation.norm() * jointLimitCompensation;
-            //                //                }
-
-            //                jointDelta += jointLimitCompensation;
-            //            }
-
             jointDelta /= (cycleTime * 0.001);
 
             jointDelta = applyMaxJointVelocity(jointDelta, maxJointVelocity);
 
-            //            Eigen::Vector3f currentTCPPosition = robotNodeSet->getTCP()->getGlobalPose().block(0,3,3,1);
-            //            const Eigen::Matrix4f mat = robotNodeSet->getTCP()->getGlobalPose() * lastTCPPose.inverse();
-            //            const Eigen::Matrix3f rot = currentPose.block(0,0,3,3) * lastPose->toEigen().block(0,0,3,3).inverse();
-            //            Eigen::Vector3f rpy;
-            //            VirtualRobot::MathTools::eigen4f2rpy(mat, rpy);
-            //            ARMARX_DEBUG << deactivateSpam(2) << "Current TCP Position: \n" << currentTCPPosition;
-            //            ARMARX_VERBOSE  << deactivateSpam(2)<< "ActualTCPVelocity: " << (rpy/(0.001*cycleTime));
             lastTCPPose = robotNodeSet->getTCP()->getGlobalPose();
 
             // build name value map