diff --git a/include/hpp/manipulation/handle.hh b/include/hpp/manipulation/handle.hh
index 0670cd8178ee88e1b39f14c64b708037350661f3..7dc2c249abfde989470c6d7007f185a059fafece 100644
--- a/include/hpp/manipulation/handle.hh
+++ b/include/hpp/manipulation/handle.hh
@@ -119,12 +119,6 @@ namespace hpp {
       virtual NumericalConstraintPtr_t createPreGrasp
       (const GripperPtr_t& gripper, const value_type& shift, std::string name) const;
 
-      static NumericalConstraintPtr_t createGrasp
-      (const GripperPtr_t& gripper,const HandlePtr_t& handle, std::string name)
-      {
-        return handle->createGrasp(gripper, name);
-      }
-
       /// Get the clearance
       ///
       /// The clearance is a distance, from the center of the gripper and along