diff --git a/crocoddyl/differential_action.py b/crocoddyl/differential_action.py
index e723339ceb2449d9f92c6cc631ff583eecebae92..d95fe56b5be30a12c2f9dd1898c4628b9f36b7cd 100644
--- a/crocoddyl/differential_action.py
+++ b/crocoddyl/differential_action.py
@@ -86,7 +86,8 @@ class DifferentialActionDataAbstract:
             self.Luu = np.zeros([nu,nu])
         else:
             self.costs = costData
-            self.costResiduals = self.costs.residuals
+            if model.ncost > 1:
+                self.costResiduals = self.costs.residuals
             self.Lx  = self.costs.Lx
             self.Lu  = self.costs.Lu
             self.Lxx = self.costs.Lxx