diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index 84e7bad959378dff89025e915b8606b0390e6ef5..f7f39a673eda53a8f00aca93d52e4d2b8e916c64 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -448,10 +448,9 @@ VectorComposite ProcessorMotion::getState(const TimeStamp& _ts) const
     CaptureMotionPtr capture_motion = findCaptureContainingTimeStamp(_ts);
 
 
-    assert( capture_motion && "There is no motion data at the queried time stamp");
 
-//    if (capture_motion)  // We found a CaptureMotion whose buffer contains the time stamp
-//    {
+    if (capture_motion)  // We found a CaptureMotion whose buffer contains the time stamp
+    {
         // if buffer is empty --> we did not advance from origin!
         if (capture_motion->getBuffer().empty())
         {
@@ -511,53 +510,9 @@ VectorComposite ProcessorMotion::getState(const TimeStamp& _ts) const
         // return success
         return state;
 
-//    }
-//    else
-//        return false;
-
-/*
-    CaptureMotionPtr capture_motion;
-    if (origin_ptr_ && _ts >= origin_ptr_->getTimeStamp())
-    {
-        // timestamp found in the current processor buffer
-        capture_motion = last_ptr_;
-    }
-    else
-    {
-        // We need to search in previous keyframes for the capture containing a motion buffer with the queried time stamp
-        capture_motion = findCaptureContainingTimeStamp(_ts);
-    }
-
-    if (capture_motion)  // We found a CaptureMotion whose buffer contains the time stamp
-    {
-        // Get origin state and calibration
-        CaptureBasePtr cap_orig   = capture_motion->getOriginCapture();
-        const auto& state_0          = cap_orig->getFrame()->getState(state_structure_);
-        VectorXd calib            = cap_orig->getCalibration();
-
-        // Get delta and correct it with new calibration params
-        VectorXd calib_preint     = capture_motion->getCalibrationPreint();
-        Motion   motion           = capture_motion->getBuffer().getMotion(_ts);
-
-        VectorXd delta_step       = motion.jacobian_calib_ * (calib - calib_preint);
-        VectorXd delta            = capture_motion->correctDelta( motion.delta_integr_, delta_step);
-
-        // ensure proper size of the provided reference
-        _x.resize( state_0.size() );
-
-        // Compose on top of origin state using the buffered time stamp, not the query time stamp
-        double dt = motion.ts_ - capture_motion->getBuffer().front().ts_;
-        statePlusDelta(state_0, delta, dt, _x);
     }
     else
-    {
-        // We could not find any CaptureMotion for the time stamp requested
-        WOLF_ERROR("Could not find any Capture for the time stamp requested. ", _ts);
-        WOLF_TRACE("Did you forget to call Problem::setPrior() in your application?")
-        return false;
-    }
-    return true;
-    */
+        return VectorComposite(); // return empty state
 }
 
 FrameBasePtr ProcessorMotion::setOrigin(const VectorComposite& _x_origin, const TimeStamp& _ts_origin)