diff --git a/src/common_fc.h b/src/common_fc.h
index ed2a88d202fb7d2a7837811f57263a835494c60c..2523d17912b14ee6b5015a874fcf7353bae39116 100644
--- a/src/common_fc.h
+++ b/src/common_fc.h
@@ -59,8 +59,6 @@ class CCommon_Fc
     *
     * Compute the matrix pseudo-inverse using SVD
     */
-    //static Eigen::MatrixXd CalcPinv(const Eigen::MatrixXd &a);
-
     template<typename _Matrix_Type_> static _Matrix_Type_ CalcPinv(const _Matrix_Type_ &a, double epsilon = std::numeric_limits<double>::epsilon())
     {
       Eigen::JacobiSVD< _Matrix_Type_ > svdd(a, Eigen::ComputeThinU | Eigen::ComputeThinV);
diff --git a/src/tasks/ir.cpp b/src/tasks/ir.cpp
index 10864b622f5b8b6ee42cddfb47d342d3757d3717..2db32f6cc2a57fbbbef8d8a81d3ee86d78b1e9be 100644
--- a/src/tasks/ir.cpp
+++ b/src/tasks/ir.cpp
@@ -44,8 +44,7 @@ void CTaskIR::TaskErrorJac(const int& arm_dof, const double& inf_rad, const Eige
     }
   // }
 
-  //Eigen::MatrixXd Hinv = UAM::CCommon_Fc::CalcPinv(H);
-  Eigen::MatrixXd Hinv = H.transpose();
+  Eigen::MatrixXd Hinv = UAM::CCommon_Fc::CalcPinv(H);
 
   // weighting matrix
   Eigen::MatrixXd temp = JIR*Hinv*JIR.transpose();