diff --git a/src/graph/graph-component.cc b/src/graph/graph-component.cc
index 79a5c29d68efebd5c5f7032d6a74155855eafc13..7d5214906bb9d0263ed7218d60e5d2854e48a58e 100644
--- a/src/graph/graph-component.cc
+++ b/src/graph/graph-component.cc
@@ -78,6 +78,7 @@ namespace hpp {
       void GraphComponent::resetNumericalConstraints ()
       {
 	numericalConstraints_.clear();
+        passiveDofs_.clear();
       }
 
       void GraphComponent::addLockedJointConstraint