diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx
index f0db3d7..74477df 100644
--- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx
@@ -137,11 +137,6 @@
                       case "get_arr"
                             toNum(args[1], count, ok)
                             for index = 0 to count
-                                if cmd == "get_var"
-                                  ret = getData(args[0], aux)        
-                                else
-                                  ret = getData(args[0], auxb)        
-                                endIf                                  
                                 ret = getData(args[0] + "[" + toString("", index )+ "]", aux)        
                                 switch(ret)
                                   case -1        
@@ -174,13 +169,12 @@
               
                       case "get_pnt"
                         $exec("p = " + args[0])          
-                          $exec("t = " + args[0])          
-                          tx = tx + toString(".4", p.trsf.x) + "|"    
-                          tx = tx + toString(".4", p.trsf.y) + "|"    
-                          tx = tx + toString(".4", p.trsf.z) + "|"    
-                          tx = tx + toString(".4", p.trsf.rx) + "|"    
-                          tx = tx + toString(".4", p.trsf.ry) + "|"    
-                          tx = tx + toString(".4", p.trsf.rz) + "|"                                                  
+                        tx = tx + toString(".4", p.trsf.x) + "|"    
+                        tx = tx + toString(".4", p.trsf.y) + "|"    
+                        tx = tx + toString(".4", p.trsf.z) + "|"    
+                        tx = tx + toString(".4", p.trsf.rx) + "|"    
+                        tx = tx + toString(".4", p.trsf.ry) + "|"    
+                        tx = tx + toString(".4", p.trsf.rz) + "|"                                                  
                       break        
               
                       case "get_jnt"
diff --git a/script/test/TestRobot2.py b/script/test/TestRobot2.py
index 65c1e7b..93f8ffd 100644
--- a/script/test/TestRobot2.py
+++ b/script/test/TestRobot2.py
@@ -39,7 +39,7 @@ try:
     step = 16
     robot.set_move_id(10)
     step = 17
-    #robot.get_joint_forces()
+    robot.get_joint_forces()
     step = 18
     #robot.open("gripper")
     #robot.close("gripper")