diff --git a/src/comodo/inverseKinematics/inverseKinematics.py b/src/comodo/inverseKinematics/inverseKinematics.py
index 9cebf16..2df4f9f 100644
--- a/src/comodo/inverseKinematics/inverseKinematics.py
+++ b/src/comodo/inverseKinematics/inverseKinematics.py
@@ -233,10 +233,7 @@ def pose_to_matrix(self, position, quaternion):
         Returns:
         - transformation_matrix (numpy array): 4x4 transformation matrix
         """
-
-        # Normalize quaternion to ensure it's a unit quaternion
-        # quaternion = quaternion / np.linalg.norm(quaternion)
-
+        
         # Create a 3x3 rotation matrix from the quaternion
         rotation_matrix = Rotation.from_quat(quaternion.coeffs()).as_matrix()