diff --git a/script/cartesian_controller.py b/script/cartesian_controller.py
deleted file mode 100755
index 60f49c1..0000000
--- a/script/cartesian_controller.py
+++ /dev/null
@@ -1,139 +0,0 @@
-#! /usr/bin/env python
-import os 
-
-import rospy
-import numpy as np
-
-import sys
-from naoqi import ALProxy
-import motion
-
-motionProxy = 0
-
-def get_transform(joint):
-    frame = motion.FRAME_TORSO
-    useSensorValues = True
-    result = motionProxy.getTransform(joint,frame,useSensorValues)
-    result = np.matrix(result)
-    print result
-    result = np.reshape(result, (4,4))
-    print result
-    return result
-
-
-def cartesian_position(joint):
-    print 'function'
-    frame = motion.FRAME_TORSO
-    useSensorValues = True
-    result = motionProxy.getPosition(joint, frame, useSensorValues)
-    #print result
-    return np.array(result[:3])
-
-
-def jacobian():
-
-    # get current positions/ accordint to control figure these values should actually come from the
-    # integration step in the previous first control loop
-
-    end_position = cartesian_position('LArm')
-
-    shoulder_position = cartesian_position('LShoulderPitch')
-    bicep_position = cartesian_position('LShoulderRoll')
-    elbow_position = cartesian_position('LElbowYaw')
-    forearm_position = cartesian_position('LElbowRoll')
-
-    # get transformed rotation axes, transformation to torso frame
-
-    x_axis = np.array([[1, 0, 0, 1]]).T
-    y_axis = np.array([[0, 1, 0, 1]]).T
-    z_axis = np.array([[0, 0, 1, 1]]).T
-    
-    shoulder_axis = get_transform('LShoulderPitch').dot(y_axis)
-    bicep_axis = get_transform('LShoulderRoll').dot(z_axis)
-    elbow_axis = get_transform('LElbowYaw').dot(x_axis)
-    forearm_axis = get_transform('LElbowRoll').dot(z_axis)
-
-    # get basis vectors of jacobian
-    
-    shoulder_basis = np.cross(shoulder_axis[:3].flatten(), end_position - shoulder_position)
-    bicep_basis = np.cross(bicep_axis[:3].flatten(), end_position - bicep_position)
-    elbow_basis = np.cross(elbow_axis[:3].flatten(), end_position - elbow_position)
-    forearm_basis = np.cross(forearm_axis[:3].flatten(), end_position - forearm_position)
-
-    # build jacobian matrix
-    jacobian = np.concatenate([shoulder_basis, bicep_basis, elbow_basis, forearm_basis], axis=0).T
-
-    return jacobian
-
-def pseudo_inverse(jacobian):
-    return np.linalg.pinv(jacobian)
-
-
-def reference_generator(p_d)
-
-    # calculate jacobian
-    jac_mat = jacobian()   
-
-    # use jacobian to compute desired joint speed
-    
-    derivative_speed = (p_d - end_position) / 5
-    inv_jac = pseudo_inverse(jac_mat)
-    angular_velocity = derivative_speed * inv_jac
-    
-        
-    # integrate over desired speed to get desired joint position
-    
-    names         = "LArm"
-    useSensors    = False
-    commandAnglesLArm = motionProxy.getAngles(names, useSensors)
-
-    #names         = "RArm"
-    #useSensors    = False
-    #commandAngles = motionProxy.getAngles(names, useSensors)
-
-    goal_angleL = commandAnglesLArm + (angular_velocity * 5)
-    
-
-    # return desired joint position and speed
-    
-    
-
-    return goal_angleL, commandAnglesLArm
-
-
-
-def movement(e)
-
-    # scale joint states with matrix K
-
-    # add desired joint speed
-
-    # move robot arm    
-
-    return
- 
-
-if __name__ == '__main__':
-
-    motionProxy = ALProxy("ALMotion", os.environ['NAO_IP'], 9559)
-    jacob = jacobian()
-    print jacob
-    jacob = pseudo_inverse(jacob)
-    print(jacob)
-
-    # given new desired coordinates
-
-    e = 1;
-    """ 
-    while e bigger some value
-
-        # run reference generator to get desired joint postion and speed
-
-        # subtract current joint states
-
-        # movement
- 
-    """    
-    #rospy.init_node('cartesian_controller')
-    #rospy.spin()
-
diff --git a/src/NAO_Jacobian.cpp b/src/NAO_Jacobian.cpp
deleted file mode 100644
index 92a1453..0000000
--- a/src/NAO_Jacobian.cpp
+++ /dev/null
@@ -1,61 +0,0 @@
-#include <Vector3.h>
-
-using namespace std;
-// Calculate the Jacobian Matrix for the NAO
-// inputs: original angles tau1 - tau4 and new angles tau1' - tau4'
-// original endeffector position e1 - e4 and new endeffector position e1' - e4'
- 
-typedef struct position{
-    float x;
-    float y;
-    float z;
-}position;
-
-typedef struct angles{
-    float tau_1;
-    float tau_2;
-    float tau_3;
-    float tau_4;
-}angles;
-
-angles a_end, a, a_diff;
-position e_end, e, e_diff;
-
-e_diff = diff(e_end, e);
-a_diff = diff(a_end, a);
-
-vector<float> postion_vec;
-postion_vec.vector::push_back(e_diff.x);
-postion_vec.vector::push_back(e_diff.y);
-postion_vec.vector::push_back(e_diff.z);
-vector<float> angles_vec;
-angles_vec.vector::push_back(a_diff.tau_1);
-angles_vec.vector::push_back(a_diff.tau_2);
-angles_vec.vector::push_back(a_diff.tau_3);
-angles_vec.vector::push_back(a_diff.tau_4);s
-vector<vector<float>> Jacobian;
-
-
-for (int i = 0; i<3; i++) {
-    for(int j = 0; j<4; j++ ) {
-        Jacobian[i][j] = postion_vec[i]/angles_vec[j];
-    }
-}
-
-position diff(position end, position actual){
-    position temp;
-    temp.x = end.x - actual.x;
-    temp.y = end.y - actual.y;
-    temp.z = end.z - actual.z;
-    return temp;
-}
-
-angles diff(angles end, angles actual){
-    angles temp;
-    temp.tau_1 = end.tau_1 - actual.tau_1;
-    temp.tau_2 = end.tau_2 - actual.tau_2;
-    temp.tau_3 = end.tau_3 - actual.tau_3;
-    temp.tau_4 = end.tau_4 - actual.tau_4;
-
-    return temp;
-}