diff --git a/src/quadarm_task_priority_ctrl.cpp b/src/quadarm_task_priority_ctrl.cpp
index afb2df387acd78720a20b1f0e9120da1112d8eaf..04c21592e63444fcb05d8eec0ec5bdceba8c2fc8 100644
--- a/src/quadarm_task_priority_ctrl.cpp
+++ b/src/quadarm_task_priority_ctrl.cpp
@@ -290,11 +290,11 @@ void CQuadarm_Task_Priority_Ctrl::uam_control(){
   MatrixXd Vtotal(4+this->arm_.nj,1);
 
   // Task 0 + 1
-  Vtotal = this->ctrl_params_.ir_vel + this->ctrl_params_.vs_vel; 
+  //Vtotal = this->ctrl_params_.ir_vel + this->ctrl_params_.vs_vel; 
   // Task 0 + 1 + 3
   //Vtotal = this->ctrl_params_.ir_vel + this->ctrl_params_.vs_vel + this->ctrl_params_.jntlim_vel; 
   // All tasks
-  //Vtotal = this->ctrl_params_.ir_vel + this->ctrl_params_.vs_vel + this->ctrl_params_.cog_vel + this->ctrl_params_.jntlim_vel; 
+  Vtotal = this->ctrl_params_.ir_vel + this->ctrl_params_.vs_vel + this->ctrl_params_.cog_vel + this->ctrl_params_.jntlim_vel; 
 
   Vtotal = this->ctrl_params_.lambda_robot.array()*Vtotal.array();