diff --git a/libraries/YarpPlugins/BasicCartesianControl/ICartesianControlImpl.cpp b/libraries/YarpPlugins/BasicCartesianControl/ICartesianControlImpl.cpp
index 71656c56c..5b0870074 100644
--- a/libraries/YarpPlugins/BasicCartesianControl/ICartesianControlImpl.cpp
+++ b/libraries/YarpPlugins/BasicCartesianControl/ICartesianControlImpl.cpp
@@ -428,9 +428,10 @@ bool BasicCartesianControl::act(int command)
 
 void BasicCartesianControl::pose(const std::vector<double> &x)
 {
-    if (getCurrentState() != VOCAB_CC_NOT_CONTROLLING || streamingCommand != VOCAB_CC_POSE
-            || streamingCommand != VOCAB_CC_MOVI // deprecated
-            || !checkControlModes(VOCAB_CM_POSITION_DIRECT))
+    if (getCurrentState() != VOCAB_CC_NOT_CONTROLLING || (
+            streamingCommand != VOCAB_CC_POSE &&
+            streamingCommand != VOCAB_CC_MOVI // deprecated
+        ) || !checkControlModes(VOCAB_CM_POSITION_DIRECT))
     {
         yCError(BCC) << "Streaming command not preset";
         return;