diff --git a/include/hpp/manipulation/graph-path-validation.hh b/include/hpp/manipulation/graph-path-validation.hh
index b834d1ed73fc206ea78e017842ca8e5227a372f3..8e286ecbd54812629eed1342915585fd9d386a67 100644
--- a/include/hpp/manipulation/graph-path-validation.hh
+++ b/include/hpp/manipulation/graph-path-validation.hh
@@ -99,6 +99,19 @@ namespace hpp {
 
         void addObstacle (const hpp::core::CollisionObjectPtr_t&);
 
+        /// Remove a collision pair between a joint and an obstacle
+        /// \param joint the joint that holds the inner objects,
+        /// \param obstacle the obstacle to remove.
+        /// \notice collision configuration validation needs to know about
+        /// obstacles. This virtual method does nothing for configuration
+        /// validation methods that do not care about obstacles.
+        virtual void removeObstacleFromJoint (const JointPtr_t& joint,
+            const model::CollisionObjectPtr_t& obstacle)
+        {
+          assert (pathValidation_);
+          pathValidation_->removeObstacleFromJoint (joint, obstacle);
+        }
+
       protected:
         /// Constructor
         GraphPathValidation (const PathValidationPtr_t& pathValidation);