diff --git a/src/sot-dynamic-pinocchio.cpp b/src/sot-dynamic-pinocchio.cpp
index 1c2b60981ef9078235465754348dae7a186c329d..69935d0626c97692a1874f6e9e9ee8a03d8c2bbd 100644
--- a/src/sot-dynamic-pinocchio.cpp
+++ b/src/sot-dynamic-pinocchio.cpp
@@ -987,7 +987,6 @@ computeAngularMomentum(dg::Vector & Momenta, const int& time)
 
   if (Momenta.size()!=3)
     Momenta.resize(3);
-  return Momenta;
   Momenta = m_data->hg.angular_impl();
 
   sotDEBUGOUT(25) << "AngularMomenta :" << Momenta ;