diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
index 1c0a4e2a2a0329568be8fc33f57cb5f4f3f43f07..49778717f645e5ad1624dfd9fb6b7c470c58a723 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
@@ -1240,7 +1240,7 @@ Eigen::Vector3f BulletRobot::getAngularMomentumGlobal(const VirtualRobot::RobotN
 		double mass = node->getMass();
 
 		boost::shared_ptr<btRigidBody> body = bo->getRigidBody();
-		Eigen::Matrix3f intertiaWorld = BulletEngine::getRotMatrix(body->getInvInertiaTensorWorld()).inverse();
+		Eigen::Matrix3f intertiaWorld = BulletEngine::getRotMatrix(body->getInvInertiaTensorWorld()).inverse().block(0,0,3,3);
 
 		angMomentum += com.cross(mass * vel) + intertiaWorld * ang;
 	}
diff --git a/SimDynamics/DynamicsEngine/DynamicsUtils.cpp b/SimDynamics/DynamicsEngine/DynamicsUtils.cpp
index 29c8a90946a8f8bba5e39988f92002ba12d7e2af..901ea2d7427e6e74738816b13fc4e1a88ffb3e7f 100644
--- a/SimDynamics/DynamicsEngine/DynamicsUtils.cpp
+++ b/SimDynamics/DynamicsEngine/DynamicsUtils.cpp
@@ -138,7 +138,7 @@ double VelocityMotorController::update(double positionError, double targetVeloci
 	if (maxVelocity > 0.0 && fabs(output_velocity) > maxVelocity)
 	{
 		double sign = output_velocity > 0 ? 1.0 : -1.0;
-		std::cout << "Limiting velocity: " << output_velocity << " -> " << sign * maxVelocity << std::endl;
+		//std::cout << "Limiting velocity: " << output_velocity << " -> " << sign * maxVelocity << std::endl;
 		output_velocity = sign * maxVelocity;
 	}
 
@@ -147,7 +147,7 @@ double VelocityMotorController::update(double positionError, double targetVeloci
 	{
 		double sign = output_acceleration > 0 ? 1.0 : -1.0;
 
-		std::cout << "Limiting acceleration: " << output_acceleration << " -> " << sign * maxAcceleration << std::endl;
+		//std::cout << "Limiting acceleration: " << output_acceleration << " -> " << sign * maxAcceleration << std::endl;
 		output_acceleration = sign * maxAcceleration;
 		output_velocity = velocity + output_acceleration*dt;
 	}