diff --git a/src/handle.cc b/src/handle.cc
index 130b84d59fc6a81b72615e8de48a3a2a855d2d7f..0a37c5bacd39afc8bc67e480092561cdc2140cb6 100644
--- a/src/handle.cc
+++ b/src/handle.cc
@@ -191,7 +191,8 @@ namespace hpp {
       ImplicitPtr_t result
         (constraints::implicit::RelativePose::create
          (n, gripper->joint()->robot(), gripper->joint (), joint (),
-          transform, localPosition(), mask_));
+          transform, localPosition(), mask_, ComparisonTypes_t
+          (mask_.size (), constraints::EqualToZero)));
       return result;
     }