diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index 96458038ff8ecc0e1000ac0117b7030a1978ff0a..13d62bba4033b84251bda73970bf13c0eee76e7b 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -200,13 +200,6 @@ namespace hpp {
 	      bool success;
               ConfigurationPtr_t q_new (new Configuration_t
 					(path->eval(t_final, success)));
-	      hppDout(info, pinocchio::displayConfig(*near->configuration()));
-	      hppDout(info, pinocchio::displayConfig(*q_new));
-	      hppDout(info, path);
-	      hppDout(info, *path);
-	      assert(success);
-	      assert(path->constraints()->isSatisfied(q_new));
-	      assert(problem_->constraintGraph ()->getState(*q_new));
               delayedEdges.push_back (DelayedEdge_t (near, q_new, path));
             }
           }