diff --git a/source/RobotAPI/statecharts/motioncontrol/MotionControl.cpp b/source/RobotAPI/statecharts/motioncontrol/MotionControl.cpp
index 0cd3afe68c12c7e121a847c6334fbeb2754525b5..2a7e0d7715bdfb4fce8f3ec2c9a381f252ea2d18 100644
--- a/source/RobotAPI/statecharts/motioncontrol/MotionControl.cpp
+++ b/source/RobotAPI/statecharts/motioncontrol/MotionControl.cpp
@@ -722,18 +722,12 @@ void MotionControl::StopRobot::onEnter()
 
     RobotStatechartContext* context = getContext<RobotStatechartContext>();
 
-    //VirtualRobot::RobotPtr robot = (RemoteRobot(context->robotStateComponent->getRobotSnapshot("StopRobotTime"))).clone("StopRobotCopy"); this crashes
-    //std::vector<VirtualRobot::RobotNodePtr> allNodes;
-    //robot->getRobotNodes(allNodes);
-
     armarx::NameList allNodes = context->robotStateComponent->getRobotSnapshot("StopRobotTime")->getRobotNodes();
 
     NameValueMap jointVelocities;
-    //std::vector<VirtualRobot::RobotNodePtr>::iterator it = allNodes.begin();
     armarx::NameList::iterator it = allNodes.begin();
     for(int i=0; it != allNodes.end(); it++, i++)
     {
-        //jointVelocities[(*it)->getName()] = 0.0f;
         jointVelocities[*it] = 0.0f;
     }