diff --git a/src/quadarm_task_priority_ctrl.cpp b/src/quadarm_task_priority_ctrl.cpp
index b0d45a9e501030136abce0043cf250f1907284f2..06f1415ae1b412b9efb5acacb25ddfd546474fcf 100644
--- a/src/quadarm_task_priority_ctrl.cpp
+++ b/src/quadarm_task_priority_ctrl.cpp
@@ -326,6 +326,13 @@ void CQuadarm_Task_Priority_Ctrl::uam_control(){
   // std::cout << "VS eigenvalues:" << std::endl << this->eig_values_.vs << std::endl;
   // std::cout << "CoG eigenvalues:" << std::endl << this->eig_values_.cog << std::endl;
   // std::cout << "JL eigenvalues:" << std::endl << this->eig_values_.jl << std::endl;
+
+  // Storing Jacobians to use them externally
+  this->jacobians_.ir = JIR;
+  this->jacobians_.vs = JVS;
+  this->jacobians_.cog = JG;
+  this->jacobians_.jl = JL;
+
 }
 void CQuadarm_Task_Priority_Ctrl::task_infrad(MatrixXd& JIR,MatrixXd& JIR_pseudo,MatrixXd& sigmaIR)
 {
diff --git a/src/quadarm_task_priority_ctrl.h b/src/quadarm_task_priority_ctrl.h
index fce566c39f417b8b9f6ffb674a42a664188da77d..75766a4d1fb39d7cd4b02c69d342eaf24fbd2a39 100644
--- a/src/quadarm_task_priority_ctrl.h
+++ b/src/quadarm_task_priority_ctrl.h
@@ -122,6 +122,13 @@ typedef struct{
     VectorXd jl;
 }eig_values;
 
+typedef struct{
+  MatrixXd ir;
+  MatrixXd vs;
+  MatrixXd cog;
+  MatrixXd jl;
+}jacobians;
+
 class CQuadarm_Task_Priority_Ctrl
 {
   private:
@@ -258,6 +265,7 @@ class CQuadarm_Task_Priority_Ctrl
 
     eig_values eig_values_; // Task jacobian eigenvalues.
 
+    jacobians jacobians_; // Task Jacobians.   
 
   	/**
     * \brief Constructor