diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
index ce5845ae37aeac6f58c0f1ecd990a52db8a1af4f..09cbf1c94a53cfb93953524b1339ce1710d926e9 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
@@ -253,8 +253,6 @@ namespace armarx
         WidgetDescription::StringWidgetDictionary getFunctionDescriptions(const Ice::Current& = GlobalIceCurrent) const override;
         void callDescribedFunction(const std::string&, const StringVariantBaseMap&, const Ice::Current& = GlobalIceCurrent) override;
 
-//        std::size_t getId() const;
-
         //c++ interface (local calls) (must be called in the rt thread)
         virtual void rtRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration) = 0;
         virtual void rtSwapBufferAndRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration);
@@ -283,8 +281,6 @@ namespace armarx
     public:
         bool rtUsesControlDevice(std::size_t deviceIndex) const;
 
-//        std::size_t rtGetId() const;
-
         //used control devices
         StringStringDictionary getControlDeviceUsedControlModeMap(const Ice::Current& = GlobalIceCurrent) const final override;
         const std::vector<char>& getControlDeviceUsedBitmap() const;
@@ -313,7 +309,6 @@ namespace armarx
         void rtDeactivateControllerBecauseOfError();
 
         RobotUnit& robotUnit;
-//        const std::size_t id;
         StringStringDictionary controlDeviceControlModeMap;
         std::map<std::string, const JointController*> controlDeviceUsedJointController;
         std::vector<char> controlDeviceUsedBitmap;
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.h
index 17ed09e53c7068cc8364bc6a38ce3dd0741b0193..1e8690be824913f905d8f67cadd2e0c0475e88db 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.h
@@ -303,7 +303,7 @@ namespace armarx
             /// @brief Hook for deriving RobotUnitModules called in \ref icePropertiesUpdated
             void _icePropertiesUpdated(const std::set<std::string>& changedProperties){}
             /// @brief Hook for deriving RobotUnitModules called in \ref icePropertiesInitialized
-            void _icePropertiesInitialized(){}            
+            void _icePropertiesInitialized(){}
             // //////////////////////////////////////////////////////////////////////////////////////// //
             // ////////////////////////////// state and state transition ////////////////////////////// //
             // //////////////////////////////////////////////////////////////////////////////////////// //
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.cpp
index b6e4ccc917067872d8d55e17a1521fdaa76c5705..20c2a2e2d185057be454e09c43090fe71661c3a4 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.cpp
@@ -213,7 +213,7 @@ namespace armarx
 
                 ARMARX_CHECK_EQUAL(_module<Devices>().getNumberOfControlDevices(), setOfControllers.jointControllers.size());
                 ARMARX_CHECK_EQUAL(_module<Devices>().getNumberOfControlDevices(), setOfControllers.nJointControllers.size());
-                ARMARX_CHECK_EQUAL(_module<Devices>().getNumberOfControlDevices(), setOfControllers.jointToNJointControllerAssignement.size());                
+                ARMARX_CHECK_EQUAL(_module<Devices>().getNumberOfControlDevices(), setOfControllers.jointToNJointControllerAssignement.size());
                 {
                     std::lock_guard<std::recursive_mutex> guard{controllersRequestedMutex};
                     controllersRequested.getWriteBuffer() = std::move(setOfControllers);
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
index de6fd4c597d650e67d4be5140be1ec2c9da73651..4648977188339faa87efff2586913ece2840071d 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
@@ -56,18 +56,6 @@ namespace armarx
                 nJointCtrl->isRequested = requested;
             }
         };
-//        /**
-//         * \brief This class allows minimal access to private members of \ref ControlThreadDataBuffer in a sane fashion for \ref ControllerManagement.
-//         * \warning !! DO NOT ADD ANYTHING IF YOU DO NOT KNOW WAHT YOU ARE DOING! IF YOU DO SOMETHING WRONG YOU WILL CAUSE UNDEFINED BEHAVIOUR !!
-//         */
-//        class ControlThreadDataBufferAttorneyForControllerManagement
-//        {
-//            friend class ControllerManagement;
-//            static void SetActivateControllersRequest(ControllerManagement* p, std::set<NJointControllerPtr, std::greater<NJointControllerPtr>>&& ctrls)
-//            {
-//                p->_module<ControlThreadDataBuffer>().setActivateControllersRequest(std::move(ctrls));
-//            }
-//        };
     }
 }
 
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.h
index b8c1161301acbe11c730c86048a0fffe79c52ecc..35a474f1e93736b456f516f017af4a0af204fc4f 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.h
@@ -90,7 +90,7 @@ namespace armarx
              * @brief Returns the name of the robot's RobotNodeSet
              * @return The name of the robot's RobotNodeSet
              */
-            const std::string& getRobotNodetSeName() const;            
+            const std::string& getRobotNodetSeName() const;
             /**
              * @brief Returns the name of the project containing the robot's model
              * @return The name of the project containing the robot's model