diff --git a/source/RobotAPI/libraries/DMPController/TaskSpaceDMPController.cpp b/source/RobotAPI/libraries/DMPController/TaskSpaceDMPController.cpp
index d92ea1cf2a18c40c413699c4fae09f99b000558a..ddf9458379e26add5eb9c58ba1054306f5b5fd2e 100644
--- a/source/RobotAPI/libraries/DMPController/TaskSpaceDMPController.cpp
+++ b/source/RobotAPI/libraries/DMPController/TaskSpaceDMPController.cpp
@@ -321,7 +321,7 @@ void TaskSpaceDMPController::setViaPose(double canVal, const std::vector<double>
 
 void TaskSpaceDMPController::removeAllViaPoints()
 {
-    //    dmpPtr->removeViaPoints();
+    dmpPtr->removeViaPoints();
 }
 
 void TaskSpaceDMPController::prepareExecution(const Eigen::Matrix4f& currentPose, const Eigen::Matrix4f& goalPose)