diff --git a/src/handle.cc b/src/handle.cc
index fe6dc17e9d09cc997504d0484d1962e23f1a6d77..9d512a254fe749a55ba077194334aa81c2da57be 100644
--- a/src/handle.cc
+++ b/src/handle.cc
@@ -205,7 +205,7 @@ namespace hpp {
       ImplicitPtr_t result (Implicit::create
          (RelativeTransformation::create
           (n, robot(), gripper->joint (), joint (),
-           transform, localPosition(), mask_),
+           M, localPosition(), mask_),
           ComparisonTypes_t(maskSize (mask_), constraints::EqualToZero)));
       return result;
     }