diff --git a/src/handle.cc b/src/handle.cc
index f08012ea891103a2fe5b18db50ab6be4ccd41a76..e80485af4cad0885179d43ebc173c092e8b2046b 100644
--- a/src/handle.cc
+++ b/src/handle.cc
@@ -189,7 +189,7 @@ namespace hpp {
       return constraints::implicit::RelativePose::create
         (n, robot (), gripper->joint (), joint (),
          gripper->objectPositionInJoint (), localPosition(),
-         std::vector <bool> (true, 6), comp);
+         std::vector <bool> (6, true), comp);
     }
 
     ImplicitPtr_t Handle::createPreGrasp