diff --git a/src/tasks/jl.cpp b/src/tasks/jl.cpp
index 9b972d6def93f450f3a2d67c76de204e0cb314ef..b63d5c9724548bdd67db603e233375f038d4299b 100644
--- a/src/tasks/jl.cpp
+++ b/src/tasks/jl.cpp
@@ -32,9 +32,6 @@ void CTaskJL::TaskErrorJac(UAM::CArm& arm, const Eigen::MatrixXd& jntlim_pos_des
   Eigen::MatrixXd AAL;
   TaskErrorCommon(arm,pow_n,jntlim_pos_des,jntlim_pos_error,AAL);
 
-  // Get current arm joint errors
-  jntlim_pos_error = jntlim_pos_des-arm.jnt_pos;
-
   // Task sigma
   sigmaL = jntlim_pos_error.transpose()*AAL*jntlim_pos_error;