diff --git a/source/RobotAPI/CMakeLists.txt b/source/RobotAPI/CMakeLists.txt
index 6d1f81d3a7c643d86aedf55c21fe10b861b9ad9c..59796017c05137bcf7667a83e6cd36006671660c 100644
--- a/source/RobotAPI/CMakeLists.txt
+++ b/source/RobotAPI/CMakeLists.txt
@@ -3,6 +3,5 @@ add_subdirectory(motioncontrol)
 add_subdirectory(applications)
 add_subdirectory(units)
 #add_subdirectory(armarx-objects)
-add_subdirectory(OpenHand)
 add_subdirectory(statecharts)
 
diff --git a/source/RobotAPI/units/TCPControlUnit.cpp b/source/RobotAPI/units/TCPControlUnit.cpp
index 1a4cbcd61679ffa03263ebda36db17d524afbb3f..382f3af2dfb77278669bde28ecf7ef75c28a2057 100644
--- a/source/RobotAPI/units/TCPControlUnit.cpp
+++ b/source/RobotAPI/units/TCPControlUnit.cpp
@@ -726,7 +726,6 @@ namespace armarx
             {
                 bestJVError = jointDeltaIterations.at(i).first;
                 resultJointDelta = jointDeltaIterations.at(i).second;
-                bestIndex = i;
 
 
             }