diff --git a/include/hpp/manipulation/graph/node.hh b/include/hpp/manipulation/graph/node.hh
index 9c6d2b1840514a3800100749c62ff81778fc4092..2b7c5cc8bdb8ec604ff90f13a35e78f349b0b18c 100644
--- a/include/hpp/manipulation/graph/node.hh
+++ b/include/hpp/manipulation/graph/node.hh
@@ -22,6 +22,7 @@
 #include <hpp/core/locked-joint.hh>
 #include <hpp/core/constraint-set.hh>
 #include <hpp/core/config-projector.hh>
+#include <hpp/core/numerical-constraint.hh>
 
 #include "hpp/manipulation/config.hh"
 #include "hpp/manipulation/deprecated.hh"
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index ad579b6b2f608e15d884c3503b0bceef4c6b35c2..f6b65870c3bf33d415630b4ec0f6b015ef2b6578 100644
--- a/src/graph/edge.cc
+++ b/src/graph/edge.cc
@@ -19,6 +19,7 @@
 #include <sstream>
 
 #include <hpp/core/path-vector.hh>
+#include <hpp/core/path-validation.hh>
 
 #include <hpp/constraints/differentiable-function.hh>
 
diff --git a/src/graph/graph-component.cc b/src/graph/graph-component.cc
index 7d5214906bb9d0263ed7218d60e5d2854e48a58e..79f9edd834d0fa7eb02e1164e1260ec8366d5a8a 100644
--- a/src/graph/graph-component.cc
+++ b/src/graph/graph-component.cc
@@ -19,6 +19,7 @@
 #include <hpp/core/config-projector.hh>
 #include <hpp/core/constraint-set.hh>
 #include <hpp/core/locked-joint.hh>
+#include <hpp/core/numerical-constraint.hh>
 
 #include <hpp/constraints/differentiable-function.hh>
 
diff --git a/src/graph/guided-node-selector.cc b/src/graph/guided-node-selector.cc
index 9512e9d25e7eb92f44bbbf9c90a484d5c73fdd59..999656d6fc915bad86065981b48613e1900bad6f 100644
--- a/src/graph/guided-node-selector.cc
+++ b/src/graph/guided-node-selector.cc
@@ -17,7 +17,7 @@
 #include "hpp/manipulation/graph/guided-node-selector.hh"
 
 #include <hpp/util/assertion.hh>
-#include <hpp/model/configuration.hh>
+#include <hpp/pinocchio/configuration.hh>
 #include <hpp/core/steering-method.hh>
 
 #include "../astar.hh"
diff --git a/src/graph/helper.cc b/src/graph/helper.cc
index 5a97b8d112c83212e51e61ad03fcee2abbc96eb8..e90cfa1d12669c1f7031b48ae26f5c759e3eebdc 100644
--- a/src/graph/helper.cc
+++ b/src/graph/helper.cc
@@ -26,11 +26,12 @@
 
 #include <hpp/util/debug.hh>
 
-#include <hpp/model/gripper.hh>
+#include <hpp/pinocchio/gripper.hh>
 
 #include <hpp/constraints/differentiable-function.hh>
 
 #include <hpp/manipulation/handle.hh>
+#include <hpp/manipulation/device.hh>
 #include <hpp/manipulation/graph/node.hh>
 #include <hpp/manipulation/graph/edge.hh>
 #include <hpp/manipulation/graph/node-selector.hh>
@@ -1035,9 +1036,9 @@ namespace hpp {
               }
             }
             // Create object lock
-            using model::JointVector_t;
-            assert (robot.has <JointVector_t> (od.name));
-            BOOST_FOREACH (const JointPtr_t& oj, robot.get<JointVector_t> (od.name)) {
+            assert (robot.has <JointIndexes_t> (od.name));
+            BOOST_FOREACH (const JointIndex& j, robot.get<JointIndexes_t> (od.name)) {
+              JointPtr_t oj (new Joint (ps->robot(), j));
               LockedJointPtr_t lj = core::LockedJoint::create (oj,
                   robot.currentConfiguration()
                   .segment (oj->rankInConfiguration (), oj->configSize ()));
diff --git a/src/graph/node-selector.cc b/src/graph/node-selector.cc
index e5f77ca908742d8147076d549cfcd4f7ed827d4f..02fe9a4c8b2201dbda9c2aa6f18c1df4998c595a 100644
--- a/src/graph/node-selector.cc
+++ b/src/graph/node-selector.cc
@@ -16,7 +16,7 @@
 
 #include <hpp/core/node.hh>
 
-#include <hpp/model/configuration.hh>
+#include <hpp/pinocchio/configuration.hh>
 #include "hpp/manipulation/roadmap-node.hh"
 #include "hpp/manipulation/graph/node-selector.hh"
 
@@ -80,7 +80,7 @@ namespace hpp {
             return it->second;
 	}
 	std::stringstream oss;
-	oss << "A configuration has no node:" << model::displayConfig (config);
+	oss << "A configuration has no node:" << pinocchio::displayConfig (config);
 	throw std::logic_error (oss.str ());
       }
 
diff --git a/src/graph/statistics.cc b/src/graph/statistics.cc
index 4823ca9be2f721351d78f910287dbd2d90f62346..5b0fb33e2443863393af29a3714eaf7c8a930721 100644
--- a/src/graph/statistics.cc
+++ b/src/graph/statistics.cc
@@ -248,7 +248,7 @@ namespace hpp {
       {
         statistics::DiscreteDistribution < RoadmapNodePtr_t > distrib;
         for (const_iterator bin = begin(); bin != end (); ++bin) {
-          unsigned int w = bin->freq ();
+          std::size_t w = bin->freq ();
           if (w == 0)
             continue;
           distrib.insert (bin->nodes ().front (), w);