diff --git a/source/RobotAPI/components/units/RobotUnit/test/BasicControllerTest.cpp b/source/RobotAPI/components/units/RobotUnit/test/BasicControllerTest.cpp
index 5f202a8f8da633a10380e0bc2f4e0f77d4ca179f..23101df79925c5bcca01d070d043f91bcf2e1a43 100644
--- a/source/RobotAPI/components/units/RobotUnit/test/BasicControllerTest.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/test/BasicControllerTest.cpp
@@ -283,7 +283,7 @@ BOOST_AUTO_TEST_CASE(VelocityControllerWithRampedAccelerationAndPositionBoundsTe
     auto distPosHi = std::uniform_real_distribution<double> { M_PI_4, M_PI};
     s.posLo = distPosLo(gen);
     s.posHi = distPosHi(gen);
-    double p = 20.5;
+    //    double p = 20.5;
     VelocityControllerWithRampedAccelerationAndPositionBounds ctrl;
 
     auto testTick = [&]
@@ -372,7 +372,7 @@ BOOST_AUTO_TEST_CASE(VelocityControllerWithRampedAccelerationTest)
     s.posLo = 0;
 
 
-    double p = 20.5;
+    //    double p = 20.5;
     VelocityControllerWithRampedAcceleration ctrl;
 
     auto testTick = [&]
@@ -657,7 +657,7 @@ BOOST_AUTO_TEST_CASE(MinJerkPositionControllerTest)
     s.posLo = 0;
 
 
-    double p = 20.5;
+    //    double p = 20.5;
     MinJerkPositionController ctrl;
 
     auto testTick = [&]
diff --git a/source/RobotAPI/libraries/DSControllers/DSRTBimanualController.cpp b/source/RobotAPI/libraries/DSControllers/DSRTBimanualController.cpp
index 249b951e8fc383b76d616b78f6f4255b62b24655..8ddc9ca8c49ee0541df464981349ee91db15591d 100644
--- a/source/RobotAPI/libraries/DSControllers/DSRTBimanualController.cpp
+++ b/source/RobotAPI/libraries/DSControllers/DSRTBimanualController.cpp
@@ -339,8 +339,8 @@ void DSRTBimanualController::controllerRun()
     Eigen::Vector3f both_arm_force_ave = - 0.5 * (left_force + right_force); // negative sign for the direction
 
 
-    float left_force_z = left_force(2);
-    float right_force_z = right_force(2);
+    //    float left_force_z = left_force(2);
+    //    float right_force_z = right_force(2);
 
     Eigen::Vector3f left_currentTCPPositionInMeter;
     Eigen::Vector3f right_currentTCPPositionInMeter;