diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGLViewer.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGLViewer.cpp
index c4cb3fa9ed3f138aff2f31b48bf6f4424a38dd73..8302203bae8ad3e669c3933fa99fe60e13ec61b4 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGLViewer.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGLViewer.cpp
@@ -27,37 +27,6 @@ BulletOpenGLViewer::BulletOpenGLViewer(DynamicsWorldPtr world)
 	setCameraUp(up);	
 
 	clientResetScene();
-
-	// register callback
-	m_dynamicsWorld->setInternalTickCallback(motorPreTickCallback,this,true);
-}
-
-void BulletOpenGLViewer::updateRobotConstraints()
-{
-	// does not work as expected....
-	std::vector<DynamicsRobotPtr> robots = bulletEngine->getRobots();
-	for (size_t i=0;i<robots.size();i++)
-	{
-		robots[i]->ensureKinematicConstraints();
-	}
-}
-
-void BulletOpenGLViewer::motorPreTickCallback (btDynamicsWorld *world, btScalar timeStep)
-{
-	BulletOpenGLViewer* glViewer = (BulletOpenGLViewer*)world->getWorldUserInfo();
-
-	glViewer->updateMotors(timeStep);
-
-}
-
-void BulletOpenGLViewer::updateMotors(float dt)
-{
-	std::vector<DynamicsRobotPtr> robots = bulletEngine->getRobots();
-	for (size_t i=0;i<robots.size();i++)
-	{
-		robots[i]->actuateJoints(dt);
-        robots[i]->updateSensors();
-	}
 }
 
 void BulletOpenGLViewer::clientMoveAndDisplay()
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGLViewer.h b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGLViewer.h
index f720ecad7495f837e65bdd9a62d01775137284aa..89e37076ef6ce2f4bca58b8d23f43471b536e2b7 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGLViewer.h
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGLViewer.h
@@ -64,12 +64,6 @@ public:
 	virtual void enableContraintsDebugDrawing();
 protected:
 
-	static void motorPreTickCallback (btDynamicsWorld *world, btScalar timeStep);
-
-	/*!
-		Move all joints which are actuated by motors.
-	*/
-	void updateMotors(float dt);
 
 	/*static DemoApplication* Create()
 	{
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
index c074cd22a7d3d9189754ecce9b4968a27258c220..fba48342c213f3f1185ef6d88bc2055e9f109c61 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
@@ -954,12 +954,6 @@ void BulletRobot::actuateJoints(btScalar dt)
                 continue;
             }
 
-            if (it->second.node->getName() == "LeftLeg_Joint3")
-            {
-                std::cout <<  "Mode: " << (int) actuation.mode << " : " << posTarget << " " << posActual << std::endl;
-                controller.debug();
-            }
-
             if (actuation.modes.position && actuation.modes.velocity)
             {
                 hinge->enableAngularMotor(true,
diff --git a/SimDynamics/examples/BulletDebugViewer/BulletDebugViewerGlut.cpp b/SimDynamics/examples/BulletDebugViewer/BulletDebugViewerGlut.cpp
index 6fe778bc4ab6d6e05b3e5c5f043b56c9afb70b6a..febf13c2f199b8145ab0b04dd153389232cd6b47 100644
--- a/SimDynamics/examples/BulletDebugViewer/BulletDebugViewerGlut.cpp
+++ b/SimDynamics/examples/BulletDebugViewer/BulletDebugViewerGlut.cpp
@@ -178,10 +178,12 @@ int main(int argc,char* argv[])
 	{
 		Eigen::Matrix4f gp = Eigen::Matrix4f::Identity();
 		//gp(2,3) = 35.0f;
-		gp(2,3) = 800.0f;
-		robot->setGlobalPose(gp);
+		//gp(2,3) = 800.0f;
+		//robot->setGlobalPose(gp);
 		DynamicsRobotPtr dynRob = world->CreateDynamicsRobot(robot);
-		dynRob->disableActuation();
+		ActuationMode mode;
+		mode.modes.position = 1;
+		dynRob->enableActuation(mode);
 		world->addRobot(dynRob);
 	}
 	BulletOpenGLViewer viewer(world);