diff --git a/src/axial-handle.cc b/src/axial-handle.cc
index 025e3758d5fa8abd2acfb8795762628c6702204f..8ae20eaf94a5b144f2950bf76737e789d584ae59 100644
--- a/src/axial-handle.cc
+++ b/src/axial-handle.cc
@@ -61,7 +61,8 @@ namespace hpp {
 				       gripper->joint()->robot(),
 				       gripper->joint (), joint (),
 				       gripper->objectPositionInJoint (),
-				       localPosition(), mask)));
+				       localPosition(), mask),
+				      core::Equality::create ()));
     }
 
     NumericalConstraintPtr_t AxialHandle::createPreGrasp