diff --git a/src/algorithm/contact-info.hpp b/src/algorithm/contact-info.hpp
index da5bee80236098a381bffac532c70003cb8d0415..28d6bf51de2f9f28cb2b46cf394d7e25ee944f45 100644
--- a/src/algorithm/contact-info.hpp
+++ b/src/algorithm/contact-info.hpp
@@ -7,6 +7,8 @@
 
 #include "pinocchio/multibody/fwd.hpp"
 #include "pinocchio/spatial/se3.hpp"
+#include "pinocchio/spatial/motion.hpp"
+#include "pinocchio/spatial/force.hpp"
 
 #include <limits>