diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointPeriodicTSDMPCompliantController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointPeriodicTSDMPCompliantController.cpp
index 7b5add1afe52bee590a546fee4ceb52f77e6ba51..b23a1466b7b30517f1f5ded46465cd497bb4ca13 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointPeriodicTSDMPCompliantController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointPeriodicTSDMPCompliantController.cpp
@@ -300,14 +300,14 @@ namespace armarx
             filteredForceInRoot = forceFrameInRoot.block<3, 3>(0, 0) * filteredForce;
             float targetForce = user2rtData.getUpToDateReadBuffer().targetForce;
 
-            Eigen::Matrix3f currentHandOri = currentPose.block<3, 3>(0, 0);
-            Eigen::Matrix3f currentToolOri = toolTransform * currentHandOri;
+            //            Eigen::Matrix3f currentHandOri = currentPose.block<3, 3>(0, 0);
+            //            Eigen::Matrix3f currentToolOri = toolTransform * currentHandOri;
             float desiredZVel = kpf * (targetForce - filteredForceInRoot(2));
             targetVel(2) -= desiredZVel;
             //            targetVel.block<3, 1>(0, 0) = currentToolOri * targetVel.block<3, 1>(0, 0);
 
 
-            Eigen::Vector3f currentToolDir = currentToolOri * oriToolDir;
+            //            Eigen::Vector3f currentToolDir = currentToolOri * oriToolDir;
 
             for (int i = 3; i < 6; ++i)
             {